We study the dynamical Casimir effect using a fully quantum-mechanical description of both the cavity field and the oscillating mirror. We do not linearize the dynamics, nor do we adopt any parametric or perturbative approximation. By numerically diagonalizing the full optomechanical Hamiltonian, we show that the resonant generation of photons from the vacuum is determined by a ladder of mirror-field {em vacuum Rabi splittings}. We find that vacuum emission can originate from the free evolution of an initial pure mechanical excited state, in analogy with the spontaneous emission from excited atoms. By considering a coherent drive of the mirror, using a master-equation approach to take losses into account, we are able to study the dynamical Casimir effect for optomechanical coupling strengths ranging from weak to ultrastrong. We find that a resonant production of photons out of the vacuum can be observed even for mechanical frequencies lower than the cavity-mode frequency. Since high mechanical frequencies, which are hard to achieve experimentally, were thought to be imperative for realizing the dynamical Casimir effect, this result removes one of the major obstacles for the observation of this long-sought effect. We also find that the dynamical Casimir effect can create entanglement between the oscillating mirror and the radiation produced by its motion in the vacuum field, and that vacuum Casimir-Rabi oscillations can occur.
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