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Coexistence of antiferromagnetism and ferrimagnetism in adjacent honeycomb layers

Physical review B 2025年第18期111卷 184404-184404页

作者： d. Szaller L. Prodan K. Geirhos V. Felea Y. Skourski d. Gorbunov T. Förster T. Helm T. Nomura A. Miyata S. Zherlitsyn J. Wosnitza A. A. Tsirlin V. Tsurkan I. Kézsmárki Institute of Solid State Physics TU Wien 1040 Vienna Austria HUN-REN–BME Condensed Matter Physics Research Group Budapest University of Technology and Economics 1111 Budapest Hungary Experimental Physics 5 Center for Electronic Correlations and Magnetism Institute of Physics University of Augsburg D-86159 Augsburg Germany Institute of Applied Physics MD 2028 Chisinau R. Moldova Hochfeld-Magnetlabor Dresden (HLD-EMFL) and Würzburg-Dresden Cluster of Excellence ct.qmat Helmholtz-Zentrum Dresden-Rossendorf 01328 Dresden Germany Institute for Solid State Physics University of Tokyo Kashiwa Chiba 277-8581 Japan Institut für Festkörper- und Materialphysik Technische Universität Dresden 01062 Dresden Germany Experimental Physics 6 Center for Electronic Correlations and Magnetism Institute of Physics University of Augsburg D-86159 Augsburg Germany

Ferro-/ferri- and antiferromagnetically ordered phases are typically exclusive in nature, thus, their coexistence in atomic-scale proximity is expected only in heterostructures. Breaking this paradigm and broadening the range of unconventional magnetic states, we report here on the observation of a new, atomic-scale hybrid spin state. This ordering is stabilized in three-dimensional crystals of the polar antiferromagnet Co2Mo3O8 by magnetic fields applied perpendicular to the Co honeycomb layers and possesses a spontaneous in-plane ferromagnetic moment. Our microscopic spin model, capturing the observed field dependence of the longitudinal and transverse magnetization as well as the magnetoelectric/elastic properties, reveals that this novel spin state is composed of an alternating stacking of antiferromagnetic and ferrimagnetic honeycomb layers. The strong intralayer and the weak interlayer exchange couplings together with competing anisotropies at octahedral and tetrahedral Co sites are identified as the key ingredients to stabilize antiferromagnetic and ferrimagnetic layers in such close proximity. We show that the proper balance of magnetic interactions can extend the stability range of this hybrid phase down to zero magnetic field. The possibility to realize a layer-by-layer stacking of such distinct spin orders via suitable combinations of microscopic interactions opens a new dimension toward the nanoscale engineering of magnetic states.

关键词： Ferromagnetism

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development of an anthropomorphic robot hand aimed at practical use for wide service robot application

Development of an anthropomorphic robot hand aimed at practi...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Sung-Woo Park Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Ansan R&D Center Ansan Korea

This paper describes an anthropomorphic robot hand and its experiments. The robot Hand is a very complicated system composed of a large number of joints. Also, there are limitations of size and weight in the development of the robot hand. Because of these reasons, to manufacture an useful robot hand is a difficult work. Our final goal is a development of a robot hand for practical use in wide service robot application. Firstly, we define several requirements of a robot hand in the sense of structure and function. Although it is difficult to satisfy all of the requirements, we try to develop a robot hand including those. The developed robot hand has 4 full-actuated fingers with total 16 joints. By using of dC motor and spur gears as an actuator unit, the size, weight and cost of the robot hand becomes reasonable. A control of finger is conducted with only geometrical information of fingers without any force sensing. In order to verify performance of the hand, various results of experiments, grasping of unknown rigid and non-rigid object, are presented. In addition, experimental results of grasping under disturbances are also presented.

关键词： robot sensing systems Service robots Manipulators Joints Grasping Humans

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Optimal Arrangement of Base Frame of a Hydro-Actuated dual-Arm robot

Optimal Arrangement of Base Frame of a Hydro-Actuated Dual-A...

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International Conference on Ubiquitous robots and Ambient Intelligence

作者： dong-Hyuk Lee Peter Ki Kim Hyeonjun Park Jae-Han Park Moon-Hong Baeg Ji-Hun Bae Robot Convergence R&D Group Korea Institute of Industrial Technology (KITECH)

ISBN: (纸本)9781509008223

This paper reports a work-in-progress result on the design of a hydro-actuated dual-arm manipulator for conducting various tasks in disaster sites. While the hydraulic actuators generally provide high load capacity, are limited in range of motion (generally smaller than 110°), thus its spatial arrangement significantly affect the kinematic performance of the manipulator. In this paper, authors particularly focus on the arrangement of base frame of each arm in order to maximize the kinematic performance with respect to overall dual-arm and single-arm tasks. Using two design parameters, (i) default yawing angle of the base joint of the manipulator and (ii) lateral distance between two arms, the arrangement of the manipulator is optimized using a workspace based performance index, PTCWA (Product of Total and Common Workspace Area).

关键词： dual-arm manipulator dual-arm robot Kinematic optimization

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Hand-eye Calibration using Images restored by deep Learning

Hand-eye Calibration using Images Restored by Deep Learning

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IEEE International Conference on Consumer Electronics-Asia (ICCE-Asia)

作者： Hyun-Su Kim Tae-Yong Kuc Kwang-Hee Lee Sungkyunkwan University Robot R&D Group Korea Institute of Industrial Technology

ISBN: (数字)9781728161648

ISBN: (纸本)9781728161655

The problem of determining the transformation between the end-effector and the camera attached to the robot arm is called hand-eye calibration. For this calibration, the pose of the robot and the image data of the calibrated camera must be acquired. Since industrial robots use fixed focus cameras, the depth of field is limited, and variable focus lenses cannot determine the camera position or pose with high accuracy because the parameters of the camera change. If the pose of a robot is out of depth of field (dOF), the camera is out of focus, and the image is blurred. If hand-eye calibration is performed using these images, the resulting data includes errors. In this paper, image restoration is performed using deep learning on a blurred image where a marker cannot be found because it is out of focus. This technique is used to sharply restore images and demonstrate a technique for finding markers. We improved the precision of the hand-eye calibration problem by obtaining a clear image restored even in various pose of the robot and reducing the error that occurs in the blurred image.

关键词： Calibration Cameras robots Image restoration robot vision systems robot kinematics deep learning

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Lane detection & Localization For UGV in Urban Environment

Lane Detection & Localization For UGV in Urban Environment

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17th International IEEE Conference on Intelligent Transportation Systems & The Asia-Pacific Council on Systems Engineering Conference 2014

作者： Teawon Han Yanghyun Kim Kisung Kim Samsung Techwin Robot Technology group Advanced Technology Institute Robot Technology group Advanced Technology InstituteSamsung Techwin R&D Center R&D Center Seongnam-siGyeonggi-do463-400 South Korea

Generally,the main components of autonomous driving system consists of perception(geometry recognition,localization,and objects detection & tracking) and navigation processes(global & local path planning,and controller).In this paper,we focus on finding an accurate position for Unmanned Ground Vehicle(UGV) in urban environments.A GPS sensor is fundamentally used to get a current global position,but its accuracy is susceptible to satellite geometry or receiver's conditions;even though high performance guaranteed GPS such as differential-GPS(dGPS) always return precise position(position error is less than 0.4m) because of problems such as disconnection between base station and *** position-errors,even few meters,could engender serious accidents when UGV is driving under urban *** this paper,we suggest the localization algorithm and novel lane detection *** detected lane information is implemented to overcome GPS sensor's ***,our novel lane detection algorithm is described,and then the localization algorithm is *** paper also provides experimental results of the lane-detection and the localization in urban environment by using UGV.

关键词： GPS Localization For UGV in Urban Environment Lane detection

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Very-high-energy gamma-ray detection and long-term multi-wavelength view of the flaring blazar B2 1811+31

arXiv

引用

arXiv 2025年

作者： Abe, K. Abe, S. Abhir, J. Abhishek, A. Acciari, V.A. Aguasca-Cabot, A. Agudo, I. Aniello, T. Ansoldi, S. Antonelli, L.A. Engels, A. Arbet Arcaro, C. Asano, K. Babić, A. de Almeida, U. Barres Barrio, J.A. Barrios-Jiménez, L. Batković, I. Baxter, J. González, J. Becerra Bednarek, W. Bernardini, E. Bernete, J. Berti, A. Besenrieder, J. Bigongiari, C. Biland, A. Blanch, O. Bonnoli, G. Bošnjak, Ž. Bronzini, E. Burelli, I. Campoy-Ordaz, A. Carosi, A. Carosi, r. Carretero-Castrillo, M. Castro-Tirado, A.J. Cerasole, d. Ceribella, G. Chilingarian, A. Cifuentes, A. Colombo, E. Contreras, J.L. Cortina, J. Covino, S. d’Ammando, F. d’Amico, G. da Vela, P. dazzi, F. de Angelis, A. de Lotto, B. de Menezes, r. delfino, M. delgado, J. Mendez, C. delgado di Pierro, F. di Tria, r. di Venere, L. dinesh, A. Prester, d. dominis donini, A. dorner, d. doro, M. Eisenberger, L. Elsaesser, d. Escudero, J. Fariña, L. Foffano, L. Font, L. Fröse, S. Fukazawa, Y. López, r.J. García Garczarczyk, M. Gasparyan, S. Gaug, M. Paiva, J.G. Giesbrecht Giglietto, N. Giordano, F. Gliwny, P. Gradetzke, T. Grau, r. Green, d. Green, J.G. Günther, P. Hadasch, d. Hahn, A. Hassan, T. Heckmann, L. Llorente, J. Herrera Hrupec, d. Imazawa, r. Israyelyan, d. Itokawa, T. Martínez, I. Jiménez Quiles, J. Jiménez Jormanainen, J. Kankkunen, S. Kayanoki, T. Kerszberg, d. Khachatryan, M. Kluge, G.W. Kobayashi, Y. Konrad, J. Kouch, P.M. Kubo, H. Kushida, J. Láinez, M. Lamastra, A. Lindfors, E. Lombardi, S. Longo, F. López-Coto, r. López-Moya, M. López-Oramas, A. Loporchio, S. Lorini, A. Lulić, L. Lyard, E. Majumdar, P. Makariev, M. Maneva, G. Manganaro, M. Mangano, S. Mannheim, K. Mariotti, M. Martínez, M. Maruševec, P. Mas-Aguilar, A. Mazin, d. Menchiari, S. Mender, S. Miceli, d. Miranda, J.M. Mirzoyan, r. González, M. Molero Molina, E. Mondal, H.A. Moralejo, A. Nakamori, T. Nanci, C. Neustroev, V. Nickel, L. rosillo, M. Nievas Nigro, C. Nikolić, L. Nilsson, K. Nishijima, K. Ekoume, T. Njoh Noda, K. Japanese MAGIC Group Department of Physics Tokai University Kanagawa Hiratsuka259-1292 Japan The University of Tokyo Chiba Kashiwa277-8582 Japan ETH Zürich ZürichCH-8093 Switzerland Università di Siena INFN Pisa SienaI-53100 Italy Bellaterra BarcelonaE-08193 Spain Universitat de Barcelona ICCUB IEEC-UB BarcelonaE-08028 Spain Instituto de Astrofísica de Andalucía-CSIC Glorieta de la Astronomía s/n Granada18008 Spain RomeI-00136 Italy Università di Udine INFN Trieste UdineI-33100 Italy Max-Planck-Institut für Physik GarchingD-85748 Germany Università di Padova INFN PadovaI-35131 Italy Zagreb10000 Croatia URCA RJ Rio de Janeiro22290-180 Brazil IPARCOS Institute EMFTEL Department Universidad Complutense de Madrid MadridE-28040 Spain Instituto de Astrofísica de Canarias and Dpto. de Astrofísica Universidad de La Laguna Tenerife La LagunaE-38200 Spain University of Lodz Faculty of Physics and Applied Informatics Department of Astrophysics Lodz90-236 Poland Centro de Investigaciones Energéticas Medioambientales y Tecnológicas MadridE-28040 Spain Departament de Física CERES-IEEC Universitat Autònoma de Barcelona BellaterraE-08193 Spain Università di Pisa INFN Pisa PisaI-56126 Italy INFN MAGIC Group INFN Sezione di Bari Dipartimento Interateneo di Fisica dell’Università e del Politecnico di Bari BariI-70125 Italy Armenian MAGIC Group A. Alikhanyan National Science Laboratory Yerevan0036 Armenia Department for Physics and Technology University of Bergen Norway INFN MAGIC Group INFN Sezione di Torino Università degli Studi di Torino TorinoI-10125 Italy Croatian MAGIC Group University of Rijeka Faculty of Physics Rijeka51000 Croatia Universität Würzburg WürzburgD-97074 Germany Technische Universität Dortmund DortmundD-44221 Germany Japanese MAGIC Group: Physics Program Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima739-8526 Japan ZeuthenD-15738 Germany Armenian MAGIC Gro

Context. Among the blazars whose emission has been detected up to very-high-energy (VHE;100 GeV 14 δd cm to the size of the emission region responsible for the γ-ray flare, δd being the relativistic doppler factor of the region. during the 2020 high state, the average spectrum became harder in the HE γ-ray band compared to the low states. A similar behaviour has been observed in X rays. Conversely, during different activity periods, we find harder-when-brighter trends in X rays and a hint of softer-when-brighter trends at HE γ rays. Long-term HE γ-ray and optical correlation indicates the same emission regions dominate the radiative output in both ranges, whereas the evolution at 15 GHz shows no correlation with the fluxes at higher frequencies. We test one-zone and two-zone synchrotron-self-Compton models for describing the broad-band spectral energy distribution during the 2020 flaring state and investigate the self-consistency of the proposed scenario. Copyright © 2025, The Authors. All rights reserved.

关键词： Synchrotron radiation

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Method based on OSEK/VdX platform using model-based and autocode technology for diesel ECU software development

Method based on OSEK/VDX platform using model-based and auto...

引用

31st Annual International Computer Software and Applications Conference, COMPSAC 2007

作者： Mu, Chunyang Sun, Lining du, Zhijiang Chen, Yanchun Robot Research Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Science Research Dept. R and D Center China FAW Group Corporation Changchun Jilin Province 130011 China

ISBN: (纸本)9780769528700

recently, model-based and autocode technology has become mature and brings many advantages in automotive software development. In order to take advantage of these changes, organization must adjust development process. This paper proposes a "V+v" method, in which the process of code design and implementation are divided into two development processes (controller algorithms and software platform) in contrast to traditional "V" development process. Control engineers develop algorithm based on model, generate codes with autocoding tools and carry out tests with the same model via different kinds of simulations. Platform engineers design software development platform based on OSEK-compliant rTOS according to results of system functional analysis. during software integration & test phase, algorithm codes are "installed" into the platform and then they are linked and built together to create whole ECU software. The method has been used for diesel ECU software development in China FAW group Corporation and the results demonstrate benefits. © 2007 IEEE.

关键词： Software engineering

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3d-based Visual Assistance System for Teleoperation

3D-based Visual Assistance System for Teleoperation

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International Conference on Control, Automation and Systems

作者： Ga-ram Jang Yong-deuk Shin Jae-Shik Yoon Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan R&D Center

ISBN: (纸本)9781467322478

In this paper, we propose a 3d-based visual assistance system for teleoperation using 3d point cloud data. In a teleoperating system, it is essential to provide the teleoperator with highly realistic information. By using 3d point cloud data, the teleoperator can observe the working environment from different viewpoints and apply various task-solving methods to it.

关键词： Teleoperation 3d point cloud Visual assistance system

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The development of China robotic Industry and Intelligent robot Key Project of the 13th Five-year Plan

The Development of China Robotic Industry and Intelligent Ro...

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2015中国（沈阳）国际机器人大会

作者： Jie Zhao Intelligent Robot in National High Technology R&D Program Expert Group Harbin Institute of Technology

Intelligent robot is a strategic emerging industry which is highly concerned by all countries in the *** is one of the important technical support for the intelligent manufacturing.I will first introduce the development of China robotic *** I will present our investigation on the major problems in robotic r&d *** third part of my talk will demonstrate the target and deployment plan of Intelligent robot Key Project of the 13 Five-Year Plan.

关键词： Project Five-year Plan The development of China robotic Industry and Intelligent robot Key Project of the 13 Key

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Kinesthetic sensing of hole position by 3-finger gripper

Kinesthetic sensing of hole position by 3-finger gripper

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Myoung-Su Choi dong-Hyuk Lee Jae-Han Park Ji-Hun Bae Robotics R&D Group Korea Institute of Industrial Technology Ansan Repulbic of Korea(South) Applied Robot R&D Departmment Korea Institute of Industrial Technology Ansan Repulbic of Korea(South)

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

In this study, we present a novel method for `peg-in-hole' assembly using a multi-joint three-fingered gripper. In previous studies, we have conducted peg-in-hole assembly based on spiral search method, not knowing the exact hole position. However, search time varies greatly depending on the error between the peg and the hole, it was difficult to estimate tact time of the assembly task. In this paper, in order to reduce the search time deviation of the hole, we propose a method that estimating the direction of the hole first before conducting the search motion. direction of the hole is estimated by `kinesthetic sensing' using the fingers grasping the peg. The feasibility of the proposed method has been verified through peg-in-hole assembly experiments using the three-fingered robot gripper.

关键词： robot sensing systems Grippers Navigation Grasping Performance evaluation Estimation

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