arXiv subjects

Wesley Lewis

Publications and source records attributed to Wesley Lewis.

3 recordsLinked to original sources

arXiv2026

Imperfect Graphs from Unitary Matrices -- I

Matrix representations of quantum operators are computationally complete but often obscure the structural topology of information flow within a quantum circuit \cite{nielsen2000}. In this paper, we introduce a generalized graph-theoretic framework for analyzing quantum operators by mapping unitary matrices to directed graphs; we term these structures \emph{Imperfect Graphs} or more formally as \emph{Topological Structure of Superpositions}(TSS) as a tool to devise better Quantum Algorithms. In this framework, we represent computational basis states as vertices. A directed edge exists between two vertices if and only if there is a non-zero amplitude transition between them, effectively mapping the support of the unitary operator. In this paper we deliberately discard probability amplitudes and phase information to isolate the connectivity and reachability properties of the operator. We demonstrate how TSS intuitively helps describe gates such as the Hadamard, Pauli-(X,Y,Z) gates, etc \cite{nielsen2000}. This framework provides a novel perspective for viewing quantum circuits as discrete dynamical systems \cite{childs2009,aharonov2001} Keywords: Quantum Algorithms, Unitary Matrix Approach, Topological Structure of Superpositions (TSS), Graph Theory

quant-ph↗

arXiv2024

RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing

Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach at integrating capacitive sensing within robotic end effectors to enable robust sensing and precise manipulation of liquids and granular media. We introduce the parallel-jaw RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to directly sense the materials and dynamics of liquids inside of diverse containers, including some visually opaque. When coupled with model-based control, we demonstrate that the proposed system enables a robotic manipulator to achieve state-of-the-art precision pouring accuracy for a range of substances with varying dynamics properties. Code, designs, and build details are available on the project website.

cs.RO↗

arXiv2022

SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing

Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of different types of containers made out of different materials with varying sizes, shapes, and colors. In this work, we present a state-of-the-art sensing technique for robots to perceive what liquid is inside of an unknown container. We do so by integrating Visible to Near Infrared (VNIR) reflectance spectroscopy into a robot's end effector. We introduce a hierarchical model for inferring the material classes of both containers and internal contents given spectral measurements from two integrated spectrometers. To train these inference models, we capture and open source a dataset of spectral measurements from over 180 different combinations of containers and liquids. Our technique demonstrates over 85% accuracy in identifying 13 different liquids and granular media contained within 13 different containers. The sensitivity of our spectral readings allow our model to also identify the material composition of the containers themselves with 96% accuracy. Overall, VNIR spectroscopy presents a promising method to give household robots a general-purpose ability to infer the liquids inside of containers, without needing to open or manipulate the containers.

cs.RO↗