arXiv subjects

Jiarui Li

Publications and source records attributed to Jiarui Li.

At least 73 records · Page 4Linked to original sources

arXiv2023

Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.

cs.RO↗

arXiv2023

Probing charge order of monolayer NbSe$_2$ within a bulk crystal

Atomically thin transition metal dichalcogenides can exhibit markedly different electronic properties compared to their bulk counterparts. In the case of NbSe$_2$, the question of whether its charge density wave (CDW) phase is enhanced in the monolayer limit has been the subject of intense debate, primarily due to the difficulty of decoupling this order from its environment. Here, we address this challenge by using a misfit crystal that comprises NbSe$_2$ monolayers separated by SnSe rock-salt spacers, a structure that allows us to investigate a monolayer crystal embedded in a bulk matrix. We establish an effective monolayer electronic behavior of the misfit crystal by studying its transport properties and visualizing its electronic structure by angle-resolved photoemission measurements. We then investigate the emergence of the CDW by tracking the temperature dependence of its collective modes. Our findings reveal a nearly sixfold enhancement in the CDW transition temperature, providing compelling evidence for the profound impact of dimensionality on charge order formation in NbSe$_2$.

cond-mat.mtrl-sci↗

arXiv2023

Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constraints. By leveraging a virtual kinematic chain (VKC)-based motion planning framework that consolidates components' kinematics into one chain, the sequential manipulation task of a UAM can be planned as a whole, yielding more coordinated motions. Integrating the kinematics and dynamics models with a hierarchical control framework, we demonstrate, for the first time, an over-actuated UAM achieves a series of new sequential manipulation capabilities in both simulation and experiment.

cs.RO↗

arXiv2023

Discrete frequency-bin entanglement generation via cascaded second-order nonlinear processes in Sagnac interferometer

Discrete frequency-bin entanglement is an essential resource for applications in quantum information processing. In this Letter, we propose and demonstrate a scheme to generate discrete frequency-bin entanglement with a single piece of periodically poled lithium niobate waveguide in a modified Sagnac interferometer. Correlated two-photon states in both directions of the Sagnac interferometer are generated through cascaded second-order optical nonlinear processes. A relative phase difference between the two states is introduced by changing the polarization state of pump light, thus manipulating the two-photon state at the output of the Sagnac interferometer. The generated two-photon state is sent into a fiber polarization splitter, then a pure discrete frequency-bin entangled two-photon state is obtained by setting the pump light. The frequency entanglement property is measured by a spatial quantum beating with a visibility of $96.0 \pm 6.1\%$. The density matrix is further obtained with a fidelity of $98.0 \pm 3.0\%$ to the ideal state. Our demonstration provides a promising method for the generation of pure discrete frequency-bin entanglement at telecom band, which is desired in quantum photonics.

quant-ph↗

arXiv2022

Tencent's Multilingual Machine Translation System for WMT22 Large-Scale African Languages

This paper describes Tencent's multilingual machine translation systems for the WMT22 shared task on Large-Scale Machine Translation Evaluation for African Languages. We participated in the $\mathbf{constrained}$ translation track in which only the data and pretrained models provided by the organizer are allowed. The task is challenging due to three problems, including the absence of training data for some to-be-evaluated language pairs, the uneven optimization of language pairs caused by data imbalance, and the curse of multilinguality. To address these problems, we adopt data augmentation, distributionally robust optimization, and language family grouping, respectively, to develop our multilingual neural machine translation (MNMT) models. Our submissions won the $\mathbf{1st\ place}$ on the blind test sets in terms of the automatic evaluation metrics. Codes, models, and detailed competition results are available at https://github.com/wxjiao/WMT2022-Large-Scale-African.

cs.CL↗

arXiv2022

Magnetic Excitations in Strained Infinite-layer Nickelate PrNiO2

Strongly correlated materials often respond sensitively to the external perturbations. In the recently discovered superconducting infinite-layer nickelates, the superconducting transition temperature can be dramatically enhanced via only ~1% compressive strain-tuning enabled by substrate design. However, the root of such enhancement remains elusive. While the superconducting pairing mechanism is still not settled, magnetic Cooper pairing - similar to the cuprates has been proposed. Using resonant inelastic x-ray scattering, we investigate the magnetic excitations in infinite-layer PrNiO2 thin films for different strain conditions. The magnon bandwidth of PrNiO2 shows only marginal response to strain-tuning, in sharp contrast to the striking enhancement of the superconducting transition temperature Tc in the doped superconducting samples. These results suggest the enhancement of Tc is not mediated by spin excitations and thus provide important empirics for the understanding of superconductivity in infinite-layer nickelates.

cond-mat.supr-con↗

arXiv2022

Downwash-aware Control Allocation for Over-actuated UAV Platforms

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity of modeling aerodynamic airflow challenges control algorithms from properly compensating for such a side effect. Leveraging the input redundancies in over-actuated UAVs, we tackle this issue with a novel control allocation framework that considers downwash effects and explores the entire allocation space for an optimal solution. This optimal solution avoids downwash effects while providing high thrust efficiency within the hardware constraints. To the best of our knowledge, ours is the first formal derivation to investigate the downwash effects on over-actuated UAVs. We verify our framework on different hardware configurations in both simulation and experiment.

cs.RO↗

arXiv2022

Strain-induced enhancement of $T_c$ in infinite-layer Pr$_{0.8}$Sr$_{0.2}$NiO$_2$ films

The mechanism of unconventional superconductivity in correlated materials remains a great challenge in condensed matter physics. The recent discovery of superconductivity in infinite-layer nickelates, as analog to high-Tc cuprates, has opened a new route to tackle this challenge. By growing 8 nm Pr0.8Sr0.2NiO2 films on the (LaAlO3)0.3(Sr2AlTaO6)0.7 substrate, we successfully raise the transition temperature Tc from 9 K in the widely studied SrTiO3-substrated nickelates into 15 K. By combining x-ray absorption spectroscopy with the first-principles and many-body simulations, we find a positive correlation between Tc and the pre-edge peak intensity, which can be attributed to the hybridization between Ni and O orbitals induced by the strain. Our result suggests that structural engineering can further enhance unconventional superconductivity, and the charge-transfer property plays a crucial role in the pairing strength.

cond-mat.supr-con↗

arXiv2022

Discovery of an electronic crystal in a cuprate Mott insulator

Copper oxide high temperature superconductors universally exhibit multiple forms of electronically ordered phases that break the native translational symmetry of the CuO2 planes. The interplay between these orders and the superconducting ground state, as well as how they arise through doping a Mott insulator, is essential to decode the mechanisms of high-temperature superconductivity. Over the years, various forms of electronic liquid crystal phases including charge/spin stripes and incommensurate charge-density-waves (CDWs) were found to emerge out of a correlated metallic ground state in underdoped cuprates. Early theoretical studies also predicted the emergence of a Coulomb-frustrated 'charge crystal' phase in the very lightly-doped, insulating limit of the CuO2 planes. Here, we use resonant X-ray scattering, electron transport, and muon spin rotation measurements to fully resolve the electronic and magnetic ground state and search for signatures of charge order in very lightly hole-doped cuprates from the RBa2Cu3O7-d family (RBCO; R: Y or rare earth). X-ray scattering data from RBCO films reveal a breaking of translational symmetry more pervasive than was previously known, extending down to the Mott limit. The ordering vector of this charge crystal state is linearly connected to the charge-density-waves of underdoped RBCO, suggesting that the former phase is a precursor to the latter as hole doping is increased. Most importantly, the coexistence of charge and spin order in RBCO suggests that this electronic symmetry-breaking state is common to the CuO2 planes in the very lightly-doped regime. These findings bridge the gap between the Mott insulating state and the underdoped metallic state and underscore the prominent role of Coulomb-frustrated electronic phase separation among all cuprates.

cond-mat.str-el↗

arXiv2021

Future prospects on constraining neutrino cosmology with the Ali CMB Polarization Telescope

We forecast the constraints on the parameters of neutrino physics with the constructions of Cosmic Microwave Background (CMB) temperature, E-mode polarization and lensing spectra for the ground-based Ali Cosmic Microwave Background Polarization Telescope (AliCPT). To implement the forecast calculations, we perform numerical simulations which show that AliCPT would yield the result $σ(N_{\mathrm{eff}})=0.42$ and $σ(M_ν)=0.18$ for the first year observation. Moreover, we investigate how the instrumental parameters, such as noise level, full width at half maxima (FWHM), and sky coverage can affect the constraints on these two parameters. Our forecasting results find that a large aperture telescope with a large sky survey strategy would significant improve the current constraints.

astro-ph.CO↗

arXiv2021

Ultrafast signatures of spin and orbital order in antiferromagnetic $α$-Sr$_2$CrO$_4$

We used femtosecond optical spectroscopy to study ultrafast spin and orbital ordering dynamics in the antiferromagnetic Mott insulator $α$-Sr$_2$CrO$_4$. This chromate system possesses multiple spin and orbital ordered phases, and therefore could enable us to study the unique interplay between these collective phases through their non-equilibrium response to photoexcitation. Here, by varying the pump photon energy, we selectively drove inter-site spin hopping between neighboring Cr $t_{2g}$ orbitals and charge transfer-type transitions between oxygen 2$p$ and Cr $e_{g}$ orbitals. The resulting transient reflectivity dynamics revealed temperature-dependent anomalies across the N${\textrm{é}}$el temperature for spin ordering as well as the transition temperatures linked to different types of orbital order. Our results reveal distinct relaxation timescales for spin and orbital orders in $α$-Sr$_2$CrO$_4$ and provide experimental evidence for the phase transition at $T_\textrm{O}$, possibly related to antiferro-type orbital ordering.

cond-mat.str-el↗

arXiv2021

SAFELearning: Enable Backdoor Detectability In Federated Learning With Secure Aggregation

For model privacy, local model parameters in federated learning shall be obfuscated before sent to the remote aggregator. This technique is referred to as \emph{secure aggregation}. However, secure aggregation makes model poisoning attacks such backdooring more convenient considering that existing anomaly detection methods mostly require access to plaintext local models. This paper proposes SAFELearning which supports backdoor detection for secure aggregation. We achieve this through two new primitives - \emph{oblivious random grouping (ORG)} and \emph{partial parameter disclosure (PPD)}. ORG partitions participants into one-time random subgroups with group configurations oblivious to participants; PPD allows secure partial disclosure of aggregated subgroup models for anomaly detection without leaking individual model privacy. SAFELearning can significantly reduce backdoor model accuracy without jeopardizing the main task accuracy under common backdoor strategies. Extensive experiments show SAFELearning is robust against malicious and faulty participants, whilst being more efficient than the state-of-art secure aggregation protocol in terms of both communication and computation costs.

cs.CR↗

arXiv2020

Sudden collapse of magnetic order in oxygen deficient nickelate films

Oxygen vacancies play a crucial role in the control of the electronic, magnetic, ionic, and transport properties of functional oxide perovskites. Rare earth nickelates (RENiO$_{3-x}$) have emerged over the years as a rich platform to study the interplay between the lattice, the electronic structure, and ordered magnetism. In this study, we investigate the evolution of the electronic and magnetic structure in thin films of RENiO$_{3-x}$, using a combination of X-ray absorption spectroscopy and imaging, resonant X-ray scattering, and extended multiplet ligand field theory modeling. We find that oxygen vacancies modify the electronic configuration within the Ni-O orbital manifolds, leading to a dramatic evolution of long-range electronic transport pathways despite the absence of nanoscale phase separation. Remarkably, magnetism is robust to substantial levels of carrier doping, and only a moderate weakening of the $(1/4, 1/4, 1/4)_{pc}$ antiferromagnetic order parameter is observed, whereas the magnetic transition temperature is largely unchanged. Only at a certain point long-range magnetism is abruptly erased without an accompanying structural transition. We propose the progressive disruption of the 3D magnetic superexchange pathways upon introduction of point defects as the mechanism behind the sudden collapse of magnetic order in oxygen-deficient nickelates. Our work demonstrates that, unlike most other oxides, ordered magnetism in RENiO$_{3-x}$ is mostly insensitive to carrier doping. The sudden collapse of ordered magnetism upon oxygen removal may provide a new mechanism for solid-state magneto-ionic switching and new applications in antiferromagnetic spintronics.

cond-mat.str-el↗

arXiv2019

Doping-dependent phonon anomaly and charge-order phenomena in the HgBa$_{2}$CuO$_{4+δ}$ and HgBa$_{2}$CaCu$_{2}$O$_{6+δ}$

Using resonant X-ray diffraction and Raman spectroscopy, we study charge correlations and lattice dynamics in two model cuprates, HgBa$_{2}$CuO$_{4+δ}$ and HgBa$_{2}$CaCu$_{2}$O$_{6+δ}$. We observe a maximum of the characteristic charge order temperature around the same hole concentration ($p \approx 0.09$) in both compounds, and concomitant pronounced anomalies in the lattice dynamics that involve the motion of atoms in and/or adjacent to the CuO$_2$ layers. These anomalies are already present at room temperature, and therefore precede the formation of the static charge correlations, and we attribute them to an instability of the CuO$_2$ layers. Our finding implies that the charge order in the cuprates is an emergent phenomenon, driven by a fundamental variation in both lattice and electronic properties as a function of doping.

cond-mat.supr-con↗

arXiv2019

Scale-invariant magnetic textures in the strongly correlated oxide NdNiO$_3$

Strongly correlated quantum solids are characterized by an inherently granular electronic fabric, with spatial patterns that can span multiple length scales in proximity to a critical point. Here, we used a resonant magnetic X-ray scattering nanoprobe with sub-100 nm spatial resolution to directly visualize the texture of antiferromagnetic domains in NdNiO$_3$. Surprisingly, our measurements revealed a highly textured magnetic fabric, which is shown to be robust and nonvolatile even after thermal erasure across its ordering ($T_{N\acute{e}el}$) temperature. The scale-free distribution of antiferromagnetic domains and its non-integral dimensionality point to a hitherto-unobserved magnetic fractal geometry in this system. These scale-invariant textures directly reflect the continuous nature of the magnetic transition and the proximity of this system to a critical point. The present study not only exposes the near-critical behavior in rare earth nickelates but also underscores the potential for novel X-ray scattering nanoprobes to image the multiscale signatures of criticality near a critical point.

cond-mat.str-el↗

arXiv2019

Temperature-independent thermal radiation

Thermal emission is the process by which all objects at non-zero temperatures emit light, and is well-described by the classic Planck, Kirchhoff, and Stefan-Boltzmann laws. For most solids, the thermally emitted power increases monotonically with temperature in a one-to-one relationship that enables applications such as infrared imaging and non-contact thermometry. Here, we demonstrate ultrathin thermal emitters that violate this one-to-one relationship via the use of samarium nickel oxide (SmNiO3), a strongly correlated quantum material that undergoes a fully reversible, temperature-driven solid-state phase transition. The smooth and hysteresis-free nature of this unique insulator-to-metal (IMT) phase transition allows us to engineer the temperature dependence of emissivity to precisely cancel out the intrinsic blackbody profile described by the Stefan-Boltzmann law, for both heating and cooling. Our design results in temperature-independent thermally emitted power within the long-wave atmospheric transparency window (wavelengths of 8 - 14 um), across a broad temperature range of ~30 °C, centered around ~120 °C. The ability to decouple temperature and thermal emission opens a new gateway for controlling the visibility of objects to infrared cameras and, more broadly, new opportunities for quantum materials in controlling heat transfer.

physics.optics↗

arXiv2019

Distinct fingerprints of charge density waves and electronic standing waves in ZrTe$_3$

Experimental signatures of charge density waves (CDW) in high-temperature superconductors have evoked much recent interest, yet an alternative interpretation has been theoretically raised based on electronic standing waves resulting from quasiparticles scattering off impurities or defects, also known as Friedel oscillations (FO). Indeed the two phenomena are similar and related, posing a challenge to their experimental differentiation. Here we report a resonant X-ray diffraction study of ZrTe$_3$, a model CDW material. Near the CDW transition, we observe two independent diffraction signatures that arise concomitantly, only to become clearly separated in momentum while developing very different correlation lengths in the well-ordered state. Anomalously slow dynamics of mesoscopic ordered nanoregions are further found near the transition temperature, in spite of the expected strong thermal fluctuations. These observations reveal that a spatially-modulated CDW phase emerges out of a uniform electronic fluid via a process that is promoted by self-amplifying FO, and identify a viable experimental route to distinguish CDW and FO.

cond-mat.str-el↗

arXiv2018

Growth and characterization of HgBa2CaCu2O6+d and HgBa2Ca2Cu3O8+d crystals

We report the successful synthesis of single-crystalline cuprate superconductors HgBa$_{2}$CaCu$_{2}$O$_{6+δ}$ and HgBa$_{2}$Ca$_{2}$Cu$_{3}$O$_{8+δ}$. These compounds are well-known for their high optimal superconducting critical temperatures of $T_\mathrm{c}$ = 128 K and 134 K at ambient pressure, respectively, and for their challenging synthesis. Using a conventional quartz-tube encapsulation method and a two-layer encapsulation method that utilizes custom-built high-pressure furnaces, we are able to grow single crystals with linear dimensions up to several millimeters parallel to the CuO$_2$ planes. Extended post-growth anneals are shown to lead to sharp superconducting transitions, indicative of high macroscopic homogeneity. X-ray diffraction and polarized Raman spectroscopy are identified as viable methods to resolve the seemingly unavoidable inter-growth of the two compounds. Our work helps to remove obstacles toward the study of these model cuprate systems with experimental probes that require sizable high-quality crystals.

cond-mat.supr-con↗