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The development of efficient quantum communication technologies depends on the innovation in multiple layers of its implementation, a challenge we address from the fundamental properties of the physical system at the nano-scale to the instrumentation level at the macro-scale. We select a promising near infrared quantum emitter, the nitrogen-vacancy (NV) center in 4H-SiC, and integrate it, at an ensemble level, with nanopillar structures that enhance photon collection efficiency into an objective lens. Moreover, changes in collection efficiency in pillars compared to bulk can serve as indicators of color center orientation in the lattice. To characterize NV center properties at the unprecedented sub-2 Kelvin temperatures, we incorporate compatible superconducting nanowire single photon detectors inside the chamber of an optical cryostat and create the ICECAP, the Integrated Cryogenic system for Emission, Collection And Photon-detection. ICECAP measurements show no significant linewidth broadening of NV ensemble emission and up to 14-fold enhancement in collected emission. With additional filtering, we measure emitter lifetimes of NV centers in a basal (hk) and an axial (kk) orientation unveiling their cryogenic values of 2.2 ns and 2.8 ns. 

This paper presents an adaptive Fuzzy Sliding Mode Control approach for an Assist-as-Needed (AAN) strategy to achieve effective human–exoskeleton synergy. The proposed strategy employs an adaptive instance-based learning algorithm to estimate muscle effort, based on surface Electromyography (sEMG) signals. To determine and control the inverse dynamics of a highly nonlinear 4-degrees-of-freedom exoskeleton designed for upper-limb therapeutic exercises, a modified Recursive Newton-Euler Algorithm (RNEA) with Sliding Mode Control (SMC) was used. The exoskeleton position error and raw sEMG signal from the bicep’s brachii muscle were used as inputs for a fuzzy inference system to produce an output to adjust the sliding mode control law parameters. The proposed robust control law was simulated using MATLAB-Simulink, and the results showed that it could instantly adjust the necessary support, based on the combined motion of the human–exoskeleton system’s muscle engagement, while keeping the state trajectory errors and input torque bounded within ±5×10−2 rads and ±5 N.m, respectively. 

Abstract In this study, an electromyography (EMG) signal-based learning is integrated with a Sliding-Mode Control (SMC) law for an effective human-exoskeleton synergy. A modified Recursive Newton-Euler Algorithm (RNEA) with SMC was used to determine and control the inverse dynamics of a highly nonlinear 4 degree-of-freedom exoskeleton designed for the automation of upper-limp therapeutic exercises. The exoskeleton position and velocity, along with the raw EMG signal from the bicep Brachii muscle were used as a feedback. The root mean square (RMS) values of targeted muscles EMG are tracked in a predetermined time window to quantify an adaptive threshold value and control the torque at the exoskeleton joints accordingly. Simulations of the proposed robust control law have been done in MATLAB-Simulink. Results have shown that the designed hybrid Control strategy offers the ability to adjust the needed support instantly based on the amount of muscle engagement presented in the combined motion of the human-exoskeleton system while maintaining the state trajectory errors and input torque bounded to ±7 × 10−3 rads and ±5 N.m, respectively.