Gouy phase of Bessel-Gaussian beams: theory vs. experiment.

It is well-known that the wave of a freely propagating Gaussian beam experiences an additional π phase shift compared to a plane wave. This phase shift, known as the Gouy phase, has significant consequences in, e.g., nonlinear optics, since the nonlinear processes require high peak intensity and phase matching of the focused beams. Hence, determining and controlling the Gouy phase is crucial in many fields of modern optics and photonics. Here, we develop an analytical model for the Gouy phase of long-range Bessel-Gaussian beams obtained by annihilating highly charged optical vortices. The model accounts for the influence of the relevant experimental parameters (topological charge, radius-to-width ratio of the initial ring-shaped beam, and focal length of the Fourier-transforming lens). We find an evolution of the Gouy phase varying nearly linearly with propagation distance and confirm this result experimentally.

A Strategy for Controlling Motions Related to Sensory Information in a Walking Robot Big Foot.

Acquiring adequate sensory information and using it to provide motor control are important issues in the process of creating walking robots. The objective of this article is to present control algorithms for the optimization of the walking cycle of an innovative walking robot named "Big Foot". The construction of the robot is based on minimalist design principles-only two motors are used, with which Big Foot can walk and even overcome obstacles. It is equipped with different types of sensors, with some of them providing information necessary for the realization of an optimized walk cycle. We examine two laws of motion-sinusoidal and polynomial-where we compare the results with constant angular velocity motion. Both proposed laws try to find balance between minimizing shock loads and maximizing walking speed for a given motor power. Experimental results are derived with the help of a 3D-printed working prototype of the robot, with the correct realization of the laws of motion being ensured by the use of a PD controller receiving data from motor encoders and tactile sensors. The experimental results validate the proposed laws of motion and the results can be applied to other walking robots with similar construction.

Zeroth- and first-order long range non-diffracting Gauss-Bessel beams generated by annihilating multiple-charged optical vortices.

We demonstrate an alternative approach for generating zeroth- and first-order long range non-diffracting Gauss-Bessel beams (GBBs). Starting from a Gaussian beam, the key point is the creation of a bright ring-shaped beam with a large radius-to-width ratio, which is subsequently Fourier-transformed by a thin lens. The phase profile required for creating zeroth-order GBBs is flat and helical for first-order GBBs with unit topological charge (TC). Both the ring-shaped beam and the required phase profile can be realized by creating highly charged optical vortices by a spatial light modulator and annihilating them by using a second modulator of the same type. The generated long-range GBBs are proven to have negligible transverse evolution up to 2 m and can be regarded as non-diffracting. The influences of the charge state of the TCs, the propagation distance behind the focusing lens, and the GBB profiles on the relative intensities of the peak/rings are discussed. The method is much more efficient as compared to this using annular slits in the back focal plane of lenses. Moreover, at large propagation distances the quality of the generated GBBs significantly surpasses this of GBBs created by low angle axicons. The developed analytical model reproduces the experimental data. The presented method is flexible, easily realizable by using a spatial light modulator, does not require any special optical elements and, thus, is accessible in many laboratories.