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Hua Chen

Publications and source records attributed to Hua Chen.

At least 91 records · Page 5Linked to original sources
arXiv2024

Overconstrained Locomotion

This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and mammal-inspired morphology within a single quadruped. In contrast to the prevailing focus on planar linkages, this research delves into adopting overconstrained linkages as the limb mechanism. The overconstrained linkages have solid theoretical foundations in advanced kinematics but are under-explored in robotic applications. This study showcases the morphological superiority of Overconstrained Robotic Limbs (ORLs) that can transform into planar or spherical limbs, exemplified using the simplest case of a Bennett linkage as an ORL. We apply Model Predictive Control (MPC) to simulate a range of overconstrained locomotion tasks, revealing its superiority in energy efficiency against planar limbs when considering foothold distances and speeds. The results are further verified in overconstrained locomotion policies optimized from Reinforcement Learning (RL). From an evolutionary biology perspective, these findings highlight the mechanism distinctions in limb design between reptiles and mammals and represent the first documented instance of ORLs outperforming planar limb designs in dynamic locomotion. Future studies will focus on deploying the model-based and learning-based overconstrained locomotion skills in the robotic hardware to close the Sim2Real gap for developing evolutionary-inspired, energy-efficient control of novel robotic limbs.

cs.RO↗
arXiv2024

Extremely Large-Scale Dynamic Metasurface Antennas (XL-DMAs): Near-Field Modeling and Channel Estimation

Dynamic metasurface antennas (DMAs) represent a novel transceiver array architecture for extremely large-scale (XL) communications, offering the advantages of reduced power consumption and lower hardware costs compared to conventional arrays. This paper focuses on near-field channel estimation for XL-DMAs. We begin by analyzing the near-field characteristics of uniform planar arrays (UPAs) and introducing the Oblong Approx. model. This model decouples elevation-azimuth (EL-AZ) parameters for XL-DMAs, providing an effective means to characterize the near-field effect. It offers simpler mathematical expressions than the second-order Taylor expansion model, all while maintaining negligible model errors for oblong-shaped arrays. Building on the Oblong Approx. model, we propose an EL-AZ-decoupled estimation framework that involves near- and far-field parameter estimation for AZ/EL and EL/AZ directions, respectively. The former is formulated as a distributed compressive sensing problem, addressed using the proposed off-grid distributed orthogonal least squares algorithm, while the latter involves a straightforward parallelizable search. Crucially, we illustrate the viability of decoupled EL-AZ estimation for near-field UPAs, exhibiting commendable performance and linear complexity correlated with the number of metasurface elements. Moreover, we design an measurement matrix optimization method with the Lorentzian constraint on DMAs and highlight the estimation performance degradation resulting from this constraint.

eess.SP↗
arXiv2024

Observation of stacking engineered magnetic phase transitions within moiré supercells of twisted van der Waals magnets

Twist engineering of magnetic van der Waals (vdW) moiré superlattices provides an attractive way to achieve precise nanoscale control over the spin degree of freedom on two-dimensional flatland. Despite the very recent demonstrations of moiré magnetism featuring exotic phases with noncollinear spin order in twisted vdW magnet chromium triiodide CrI3, the local magnetic interactions, spin dynamics, and magnetic phase transitions within and across individual moiré supercells remain elusive. Taking advantage of a scanning single-spin magnetometry platform, here we report observation of two distinct magnetic phase transitions with separate critical temperatures within a moiré supercell of small-angle twisted double trilayer CrI3. By measuring temperature dependent spin fluctuations at the coexisting ferromagnetic and antiferromagnetic regions in twisted CrI3, we explicitly show that the Curie temperature of the ferromagnetic state is higher than the Néel temperature of the antiferromagnetic one by ~10 K. Our mean-field calculations attribute such a spatial and thermodynamic phase separation to the stacking order modulated interlayer exchange coupling at the twisted interface of the moiré superlattices. The presented results highlight twist engineering as a promising tuning knob to realize on-demand control of not only the nanoscale spin order of moiré quantum matter but also its dynamic magnetic responses, which may find relevant applications in developing transformative vdW electronic and magnetic devices.

cond-mat.mes-hall↗
arXiv2024

Sharp embedding results and geometric inequalities for Hörmander vector fields

Let $U$ be a connected open subset of $\mathbb{R}^n$, and let $X=(X_1,X_{2},\ldots,X_m)$ be a system of Hörmander vector fields defined on $U$. This paper addresses sharp embedding results and geometric inequalities in the generalized Sobolev space $\mathcal{W}_{X,0}^{k,p}(Ω)$, where $Ω\subset\subset U$ is a general open bounded subset of $U$. By employing Rothschild-Stein's lifting technique and saturation method, we prove the representation formula for smooth functions with compact support in $Ω$. Combining this representation formula with weighted weak-$L^p$ estimates, we derive sharp Sobolev inequalities on $\mathcal{W}_{X,0}^{k,p}(Ω)$, where the critical Sobolev exponent depends on the generalized Métivier index. As applications of these sharp Sobolev inequalities, we establish the isoperimetric inequality, logarithmic Sobolev inequalities, Rellich-Kondrachov compact embedding theorem, Gagliardo-Nirenberg inequality, Nash inequality, and Moser-Trudinger inequality in the context of general Hörmander vector fields.

math.AP↗
arXiv2024

GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach integrates an HS-layer and learnable affine transformations, which aims to enhance the extraction and alignment of geometric information. Additionally, we introduce a cross-cloud transformation mechanism that efficiently merges diverse data sources. Finally, we push the limits of our model by incorporating the shape prior information for translation and size error prediction. We conducted extensive experiments to demonstrate the effectiveness of the proposed framework. Through extensive quantitative experiments, we demonstrate significant improvement over the baseline method by a large margin across all metrics.

cs.CV↗
arXiv2024

POMDP-Guided Active Force-Based Search for Robotic Insertion

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming and does not exploit the rich contact information. In this paper, we propose a novel search strategy that actively utilizes the information contained in the contact configuration and shows high efficiency. In particular, we formulate this problem as a Partially Observable Markov Decision Process (POMDP) with carefully designed primitives based on an in-depth analysis of the contact configuration's static stability. From the formulated POMDP, we can derive a novel search strategy. Thanks to its simplicity, this search strategy can be incorporated into a Finite-State-Machine (FSM) controller. The behaviors of the FSM controller are realized through a low-level Cartesian Impedance Controller. Our method is based purely on the robot's proprioceptive sensing and does not need visual or tactile sensors. To evaluate the effectiveness of our proposed strategy and control framework, we conduct extensive comparison experiments in simulation, where we compare our method with the baseline approach. The results demonstrate that our proposed method achieves a higher success rate with a shorter search time and search trajectory length compared to the baseline method. Additionally, we show that our method is robust to various initial displacement errors.

cs.RO↗
arXiv2024

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion

This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method.

cs.RO↗
arXiv2024

RIS-Enabled Joint Near-Field 3D Localization and Synchronization in SISO Multipath Environments

Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the integration of numerous passive and reflective elements, enabling near-field propagation. In this paper, we tackle the challenges of RIS-aided 3D localization and synchronization in multipath environments, focusing on the near-field of mmWave systems. Specifically, our approach involves formulating a maximum likelihood (ML) estimation problem for the channel parameters. To initiate this process, we leverage a combination of canonical polyadic decomposition (CPD) and orthogonal matching pursuit (OMP) to obtain coarse estimates of the time of arrival (ToA) and angle of departure (AoD) under the far-field approximation. Subsequently, distances are estimated using $l_{1}$-regularization based on a near-field model. Additionally, we introduce a refinement phase employing the spatial alternating generalized expectation maximization (SAGE) algorithm. Finally, a weighted least squares approach is applied to convert channel parameters into position and clock offset estimates. To extend the estimation algorithm to ultra-large (UL) RIS-assisted localization scenarios, it is further enhanced to reduce errors associated with far-field approximations, especially in the presence of significant near-field effects, achieved by narrowing the RIS aperture. Moreover, the Cramér-Rao Bound (CRB) is derived and the RIS phase shifts are optimized to improve the positioning accuracy. Numerical results affirm the efficacy of the proposed estimation algorithm.

eess.SP↗
arXiv2024

Superconducting triangular islands as a platform for manipulating Majorana zero modes

Current proposals for topological quantum computation (TQC) based on Majorana zero modes (MZM) have mostly been focused on coupled-wire architecture which can be challenging to implement experimentally. To explore alternative building blocks of TQC, in this work we study the possibility of obtaining robust MZM at the corners of triangular superconducting islands, which often appear spontaneously in epitaxial growth. We first show that a minimal three-site triangle model of spinless $p$-wave superconductor allows MZM to appear at different pairs of vertices controlled by a staggered vector potential, which may be realized using coupled quantum dots and can already demonstrate braiding. For systems with less fine-tuned parameters, we suggest an alternative structure of a "hollow" triangle subject to uniform supercurrents or vector potentials, in which MZM generally appear when two of the edges are in a different topological phase from the third. We also discuss the feasibility of constructing the triangles using existing candidate MZM systems and of braiding more MZM in networks of such triangles.

cond-mat.mes-hall↗
arXiv2024

Asymptotic behaviour of Dirichlet eigenvalues for homogeneous Hörmander operators and algebraic geometry approach

We study the Dirichlet eigenvalue problem of homogeneous Hörmander operators $\triangle_{X}=\sum_{j=1}^{m}X_{j}^{2}$ on a bounded open domain containing the origin, where $X_1, X_2, \ldots, X_m$ are linearly independent smooth vector fields in $\mathbb{R}^n$ satisfying Hörmander's condition and a suitable homogeneity property with respect to a family of non-isotropic dilations. Suppose that $Ω$ is an open bounded domain in $\mathbb{R}^n$ containing the origin. We use the Dirichlet form to study heat semigroups and subelliptic heat kernels. Then, by utilizing subelliptic heat kernel estimates, the resolution of singularities in algebraic geometry, and employing some refined analysis involving convex geometry, we establish the explicit asymptotic behavior $λ_k \approx k^{\frac{2}{Q_0}}(\ln k)^{-\frac{2d_0}{Q_0}}$ as $k \to +\infty$, where $λ_k$ denotes the $k$-th Dirichlet eigenvalue of $\triangle_{X}$ on $Ω$, $Q_0$ is a positive rational number, and $d_0$ is a non-negative integer. Furthermore, we provide optimal bounds of index $Q_0$, which depend on the homogeneous dimension associated with the vector fields $X_1, X_2, \ldots, X_m$.

math.AP↗
arXiv2023

Multiplicity of solutions for semilinear subelliptic Dirichlet problem

In this paper, we study the semilinear subelliptic equation \[ \left\{ \begin{array}{cc} -\triangle_{X} u=f(x,u)+g(x,u) & \mbox{in}~Ω, \\[2mm] u=0\hfill & \mbox{on}~\partialΩ, \end{array} \right. \] where $\triangle_{X}=-\sum_{i=1}^{m}X_{i}^{*}X_{i}$ is the self-adjoint Hörmander operator associated with vector fields $X=(X_{1},X_{2},\ldots,X_{m})$ satisfying the Hörmander condition, $f(x,u)\in C(\overlineΩ\times \mathbb{R})$, $g(x,u)$ is a Carathéodory function on $Ω\times \mathbb{R}$, and $Ω$ is an open bounded domain in $\mathbb{R}^n$ with smooth boundary. Combining the perturbation from symmetry method with the approaches involving eigenvalue estimate and Morse index in estimating the min-max values, we obtain two kinds of existence results for multiple weak solutions to the problem above. Furthermore, we discuss the difference between the eigenvalue estimate approach and the Morse index approach in degenerate situations. Compared with the classical elliptic cases, both approaches here have their own strengths in the degenerate cases. This new phenomenon implies the results in general degenerate cases would be quite different from the situations in classical elliptic cases.

math.AP↗
arXiv2023

Time-reversal-like degeneracies distinguished by the anomalous Hall effect in a metallic kagome ice compound

In magnetic crystals, despite the explicit breaking of time-reversal symmetry, two equilibrium states related by time reversal are always energetically degenerate. In ferromagnets such time-reversal degeneracy can be manifested by hysteresis loops in the magnetic field dependence of the magnetization and, if metallic, in the anomalous Hall effect. Importantly, both quantities simply change signs but not their absolute sizes under time reversal, which follows from their fundamental definitions. Our integral experimental and theoretical study shows that in the metallic kagome spin ice HoAgGe subject to finite magnetic fields parallel to the kagome plane, an emergent time-reversal-like degeneracy appears between magnetic states that have the same energy and net magnetization, but different sizes of the anomalous Hall effect. These degeneracies are unraveled by finite hysteresis in the field-dependent anomalous Hall effect contrasted with the vanishing hysteresis in the magnetization, which appears only at low-temperatures T$<$4K when the kagome spin ice is fully ordered into $\sqrt{3}$$\times$$\sqrt{3}$ state. By explicitly determining the degenerate states and calculating the corresponding physical properties using a tight-binding model, we nailed down the time-reversal-like operation that transforms these degenerate states into each other. The operation is related to the nontrivial distortion of the kagome lattice in HoAgGe and is effective only because of the richness of degenerate states unique to kagome spin ice. Our work points to the powerful role of the anomalous Hall effect to diagnose hidden symmetries in frustrated spin systems.

cond-mat.str-el↗
arXiv2023

Multi-Resolution Planar Region Extraction for Uneven Terrains

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting planar regions from the environment, they often suffer from issues such as low computational efficiency or loss of resolution. To address these issues, we propose a multi-resolution planar region extraction strategy in this paper that balances the accuracy in boundaries and computational efficiency. Our method begins with a pointwise classification preprocessing module, which categorizes all sampled points according to their local geometric properties to facilitate multi-resolution segmentation. Subsequently, we arrange the categorized points using an octree, followed by an in-depth analysis of nodes to finish multi-resolution plane segmentation. The efficiency and robustness of the proposed approach are verified via synthetic and real-world experiments, demonstrating our method's ability to generalize effectively across various uneven terrains while maintaining real-time performance, achieving frame rates exceeding 35 FPS.

cs.CV↗
arXiv2023

S$^2$MAT: Simultaneous and Self-Reinforced Mapping and Tracking in Dynamic Urban Scenariosorcing Framework for Simultaneous Mapping and Tracking in Unbounded Urban Environments

Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlock the potential of robots, it is crucial to enable them to navigate in large-scale unknown and changing unstructured scenarios. This requires the robot to construct an accurate static map in real-time as it explores, while filtering out moving objects to ensure mapping accuracy and, if possible, achieving high-quality pedestrian tracking and collision avoidance. While existing methods can achieve individual goals of spatial mapping or dynamic object detection and tracking, there has been limited research on effectively integrating these two tasks, which are actually coupled and reciprocal. In this work, we propose a solution called S$^2$MAT (Simultaneous and Self-Reinforced Mapping and Tracking) that integrates a front-end dynamic object detection and tracking module with a back-end static mapping module. S$^2$MAT leverages the close and reciprocal interplay between these two modules to efficiently and effectively solve the open problem of simultaneous tracking and mapping in highly dynamic scenarios. We conducted extensive experiments using widely-used datasets and simulations, providing both qualitative and quantitative results to demonstrate S$^2$MAT's state-of-the-art performance in dynamic object detection, tracking, and high-quality static structure mapping. Additionally, we performed long-range robotic navigation in real-world urban scenarios spanning over 7 km, which included challenging obstacles like pedestrians and other traffic agents. The successful navigation provides a comprehensive test of S$^2$MAT's robustness, scalability, efficiency, quality, and its ability to benefit autonomous robots in wild scenarios without pre-built maps.

cs.RO↗
arXiv2023

Quantum interference in superposed lattices

Charge transport in solids at low temperature reveals a material's mesoscopic properties and structure. Under a magnetic field, Shubnikov-de Haas (SdH) oscillations inform complex quantum transport phenomena that are not limited by the ground state characteristics. Here, in elemental metal Cr with two incommensurately superposed lattices of ions and a spin-density-wave ground state, we reveal that the phases of several low-frequency SdH oscillations in sigma_xx (rho_xx) and sigma_yy (rho_yy) are opposite, contrast with oscillations from normal cyclotron orbits that maintain identical phases. We trace the origin of the low frequency SdH oscillations to quantum interference effects arising from the incommensurate orbits of Cr's superposed reciprocal lattices, and explain the observed pi-phase shift by the reconnection of anisotropic joint open and closed orbits.

cond-mat.str-el↗
arXiv2023

Coordinated Defense Allocation in Reach-Avoid Scenarios with Efficient Online Optimization

In this paper, we present a dual-layer online optimization strategy for defender robots operating in multiplayer reach-avoid games within general convex environments. Our goal is to intercept as many attacker robots as possible without prior knowledge of their strategies. To balance optimality and efficiency, our approach alternates between coordinating defender coalitions against individual attackers and allocating coalitions to attackers based on predicted single-attack coordination outcomes. We develop an online convex programming technique for single-attack defense coordination, which not only allows adaptability to joint states but also identifies the maximal region of initial joint states that guarantees successful attack interception. Our defense allocation algorithm utilizes a hierarchical iterative method to approximate integer linear programs with a monotonicity constraint, reducing computational burden while ensuring enhanced defense performance over time. Extensive simulations conducted in 2D and 3D environments validate the efficacy of our approach in comparison to state-of-the-art approaches, and show its applicability in wheeled mobile robots and quadcopters.

cs.RO↗
arXiv2023

Nanoscale magnetic domains in polycrystalline Mn3Sn films imaged by a scanning single-spin magnetometer

Noncollinear antiferromagnets with novel magnetic orders, vanishingly small net magnetization and exotic spin related properties hold enormous promise for developing next-generation, transformative spintronic applications. A major ongoing research focus of this community is to explore, control, and harness unconventional magnetic phases of this emergent material system to deliver state-of-the-art functionalities for modern microelectronics. Here we report direct imaging of magnetic domains of polycrystalline Mn3Sn films, a prototypical noncollinear antiferromagnet, using nitrogen-vacancy-based single-spin scanning microscopy. Nanoscale evolution of local stray field patterns of Mn3Sn samples are systematically investigated in response to external driving forces, revealing the characteristic "heterogeneous" magnetic switching behaviors in polycrystalline textured Mn3Sn films. Our results contribute to a comprehensive understanding of inhomogeneous magnetic orders of noncollinear antiferromagnets, highlighting the potential of nitrogen-vacancy centers to study microscopic spin properties of a broad range of emergent condensed matter systems.

cond-mat.mes-hall↗