arXiv subjects

Junchao Ma

Publications and source records attributed to Junchao Ma.

18 recordsLinked to original sources

arXiv2026

Fundamentals of NOMA in Low-Earth Orbit Coordinated Multi-Satellite Networks

Coordinated multi-satellite (CoMS) transmission and non-orthogonal multiple access (NOMA) are envisioned to jointly enhance coverage, capacity, and spectrum efficiency for satellite networks. Their integration into a unified CoMS-NOMA framework will allow more efficient, reliable, and energy-efficient multi-user access. This paper investigates the downlink performance of CoMS-NOMA networks from a system-level perspective, in which multiple satellites cooperatively serve multiple users via NOMA. Leveraging tools from stochastic geometry, related angles and distances in CoMS-NOMA are first derived as intermediate results. Then, we obtain the combined signal power distributions and analyze coverage and spectrum performance under both inter- and intra-satellite interference, accounting for potential imperfect successive interference cancellation (SIC). The analytical model is validated across a range of system parameters, including the number of satellites, service region angle, error-propagation factor, and power allocation coefficients. Numerical results indicate that increasing the number of cooperative satellites does not always improve coverage and spectrum efficiency. Additionally, while a higher main-lobe gain improves coverage, a near-perfect SIC provides only slightly greater benefits than a reasonably good SIC. With properly selected power allocation coefficients, CoMS-NOMA achieves up to a 270% improvement in coverage and a 56% gain in sum spectral efficiency, compared with conventional orthogonal and single-satellite schemes, indicating potential for green, energy-efficient satellite networking.

eess.SP↗

arXiv2026

Satellite NOMA for Direct-to-Cell Communications: Fundamentals, Protocols, and Opportunities

Direct-to-cell (DTC) satellite communication is regarded as one of the most recent technologies that provides global connectivity. However, with the growing number of wireless users and devices, the design of DTC communications must satisfy the requirements of high-scale capabilities and efficient spectrum utilization. To this end, integrating satellite communications with advanced multiple-access techniques, such as non-orthogonal multiple access (NOMA), has attracted considerable interest in developing NOMA-DTC communications. In this article, we first introduce the fundamentals of NOMA-DTC communications, including architectural fundamentals, system design aspects, and potential applications. Given the various cooperative modes and the still-evolving satellite network (SatNet) architectures, such as cooperative SatNets and multi-tier SatNets, we explore protocols that suit future SatNets and enhance system performance. Furthermore, a case study is conducted to investigate the benefits of NOMA schemes for DTC communications and to compare them with OMA schemes. Finally, to inspire further research, several opportunities for NOMA-DTC communications are presented.

eess.SP↗

arXiv2026

FedAFD: Multimodal Federated Learning via Adversarial Fusion and Distillation

Multimodal Federated Learning (MFL) enables clients with heterogeneous data modalities to collaboratively train models without sharing raw data, offering a privacy-preserving framework that leverages complementary cross-modal information. However, existing methods often overlook personalized client performance and struggle with modality/task discrepancies, as well as model heterogeneity. To address these challenges, we propose FedAFD, a unified MFL framework that enhances client and server learning. On the client side, we introduce a bi-level adversarial alignment strategy to align local and global representations within and across modalities, mitigating modality and task gaps. We further design a granularity-aware fusion module to integrate global knowledge into the personalized features adaptively. On the server side, to handle model heterogeneity, we propose a similarity-guided ensemble distillation mechanism that aggregates client representations on shared public data based on feature similarity and distills the fused knowledge into the global model. Extensive experiments conducted under both IID and non-IID settings demonstrate that FedAFD achieves superior performance and efficiency for both the client and the server.

cs.LG↗

arXiv2025

Versatile tunable optical injection of chiral polarized Weyl fermions in a magnetic Weyl semimetal Co3Sn2S2

Precise probe and control of various quantum degrees of freedom in novel quantum matter are central to understanding fundamental quantum physics and hold promise for innovative routes to encode and process information. Chirality is one such degree of freedom that has recently attracted intense research interest, especially for Weyl fermions in topological Weyl semimetals. The coupling of chiral degrees of freedom through light-matter interactions and the versatile control of these couplings through external fields can lead to precise quantum control of Weyl fermions. In this work, we demonstrate the observation of light chirality-dependent photocurrent in the mid-infrared regime. Excitation wavelength-dependent measurements reveal that the photocurrent originates from the injection of chiral polarized Weyl fermions by chiral polarized mid-infrared photons. The optical process that generates unbalanced chiral polarized Weyl fermions is determined to be a third-order nonlinear photocurrent process. Compared with nonmagnetic Weyl semimetals, such coupling is versatilely tunable in magnetic Weyl semimetals with the magnetization direction and external electric field in addition to the chirality of light. Our results are not only directly applicable to tunable circular-polarization-sensitive photodetection in the mid-infrared regime, but also pave the way toward functional quantum devices that utilize the chiral quantum degrees of freedom of Weyl fermions.

cond-mat.mes-hall↗

arXiv2025

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains

Reduced-order-model-based optimal control techniques for humanoid locomotion struggle to adapt step duration and placement simultaneously in dynamic walking gaits due to their reliance on fixed-time discretization, which limits responsiveness to various disturbances and results in suboptimal performance in challenging conditions. In this work, we propose a Gait-Net-augmented implicit kino-dynamic model-predictive control (MPC) to simultaneously optimize step location, step duration, and contact forces for natural variable-frequency locomotion. The proposed method incorporates a Gait-Net-augmented Sequential Convex MPC algorithm to solve multi-linearly constrained variables by iterative quadratic programs. At its core, a lightweight Gait-frequency Network (Gait-Net) determines the preferred step duration in terms of variable MPC sampling times, simplifying step duration optimization to the parameter level. Additionally, it enhances and updates the spatial reference trajectory within each sequential iteration by incorporating local solutions, allowing the projection of kinematic constraints to the design of reference trajectories. We validate the proposed algorithm in high-fidelity simulations and on small-size humanoid hardware, demonstrating its capability for variable-frequency and 3-D discrete terrain locomotion with only a one-step preview of terrain data.

cs.RO↗

arXiv2025

Spectrum Sharing in 6G Space-Ground Integrated Networks: A Ground Protection Zone-Based Design

Space-ground integrated network (SGIN) has been envisioned as a competitive solution for large scale and wide coverage of future wireless networks. By integrating both the non-terrestrial network (NTN) and the terrestrial network (TN), SGIN can provide high speed and omnipresent wireless network access for the users using the predefined licensed spectrums. Considering the scarcity of the spectrum resource and the low spectrum efficiency of the SGIN, we enable the NTN and TN to share the spectrum to improve overall system performance, i.e., weighted-sum area data rate (WS-ADR). However, mutual interference between NTN and TN is often inevitable and thus causes SGIN performance degradation. In this work, we consider a ground protection zone for the TN base stations, in which the NTN users are only allowed to use the NTN reserved spectrum to mitigate the NTN and TN mutual interference. We analytically derive the coverage probability and area data rate (ADR) of the typical users and study the performance under various protection zone sizes and spectrum allocation parameter settings. Simulation and numerical results demonstrate that the WS-ADR could be maximized by selecting the appropriate radius of protection zone and bandwidth allocation factor in the SGIN.

cs.IT↗

arXiv2024

Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Current humanoid push-recovery strategies often use whole-body motion, yet they tend to overlook posture regulation. For instance, in manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This paper introduces a novel approach to enhancing humanoid push-recovery performance under unknown disturbances and regulating body posture by tailoring the recovery stepping strategy. We propose a hierarchical-MPC-based scheme that analyzes and detects instability in the prediction window and quickly recovers through adapting gait frequency. Our approach integrates a high-level nonlinear MPC, a posture-aware gait frequency adaptation planner, and a low-level convex locomotion MPC. The planners predict the center of mass (CoM) state trajectories that can be assessed for precursors of potential instability and posture deviation. In simulation, we demonstrate improved maximum recoverable impulse by 131% on average compared with baseline approaches. In hardware experiments, a 125 ms advancement in recovery stepping timing/reflex has been observed with the proposed approach. We also demonstrate improved push-recovery performance and minimized body attitude change under 0.2 rad.

cs.RO↗

arXiv2023

Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research

Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and effective approach to controlling and generalizing dynamic locomotion and loco-manipulation on humanoid robots via a Force-and-moment-based Model Predictive Control (MPC). Specifically, we proposed a simplified rigid body dynamics (SRBD) model to take into account both humanoid and object dynamics for humanoid loco-manipulation. This linear dynamics model allows us to directly solve for ground reaction forces and moments via an MPC problem to achieve highly dynamic real-time control. Our proposed framework is highly versatile and generalizable. We introduce HECTOR (Humanoid for Enhanced ConTrol and Open-source Research) platform to demonstrate its effectiveness in hardware experiments. With the proposed framework, HECTOR can maintain exceptional balance during double-leg stance mode, even when subjected to external force disturbances to the body or foot location. In addition, it can execute 3-D dynamic walking on a variety of uneven terrains, including wet grassy surfaces, slopes, randomly placed wood slats, and stacked wood slats up to 6 cm high with the speed of 0.6 m/s. In addition, we have demonstrated dynamic humanoid loco-manipulation over uneven terrain, carrying 2.5 kg load. HECTOR simulations, along with the proposed control framework, are made available as an open-source project. (https://github.com/DRCL-USC/Hector_Simulation).

cs.RO↗

arXiv2022

Toward 6G TK$μ$ Extreme Connectivity: Architecture, Key Technologies and Experiments

Sixth-generation (6G) networks are evolving towards new features and order-of-magnitude enhancement of systematic performance metrics compared to the current 5G. In particular, the 6G networks are expected to achieve extreme connectivity performance with Tbps-scale data rate, Kbps/Hz-scale spectral efficiency, and $μ$s-scale latency. To this end, an original three-layer 6G network architecture is designed to realise uniform full-spectrum cell-free radio access and provide task-centric agile proximate support for diverse applications. The designed architecture is featured by super edge node (SEN) which integrates connectivity, computing, AI, data, etc. On this basis, a technological framework of pervasive multi-level (PML) AI is established in the centralised unit to enable task-centric near-real-time resource allocation and network automation. We then introduce a radio access network (RAN) architecture of full spectrum uniform cell-free networks, which is among the most attractive RAN candidates for 6G TK$μ$ extreme connectivity. A few most promising key technologies, i.e., cell-free massive MIMO, photonics-assisted Terahertz wireless access and spatiotemporal two-dimensional channel coding are further discussed. A testbed is implemented and extensive trials are conducted to evaluate innovative technologies and methodologies. The proposed 6G network architecture and technological framework demonstrate exciting potentials for full-service and full-scenario applications.

cs.NI↗

arXiv2022

Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles

In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel actuation to roll over high obstacles while keeping the wheel torques to navigate the terrain while keeping the wheel traction and balancing the robot body. In detail, we first present a linear rigid body dynamics with wheels that can be used for real-time balancing control of wheel-legged robots. We then introduce an effective pose optimization method for wheel-legged robot's locomotion over steep ramp and stair terrains. The pose optimization solves for optimal poses to enhance stability and enforce collision-fee constraints for the rolling motion over stair terrain. Experimental validation on the real robot demonstrated the capability of rolling up on a 0.36 m obstacle. The robot can also successfully roll up and down multiple stairs without lifting its legs or having collision with the terrain.

cs.RO↗

arXiv2022

Ultrafast photothermoelectric effect in Dirac semimetallic Cd3As2 revealed by terahertz emission

The thermoelectric effects of topological semimetals have attracted tremendous research interest because many topological semimetals are excellent thermoelectric materials and thermoelectricity serves as one of their most important potential applications. In this work, we reveal the transient photothermoelectric response of Dirac semimetallic Cd3As2, namely the photo-Seebeck effect and photo-Nernst effect, by studying the terahertz (THz) emission from the transient photocurrent induced by these effects. Our excitation polarization and power dependence confirm that the observed THz emission is due to photothermoelectric effect instead of other nonlinear optical effect. Furthermore, when a weak magnetic field (~0.4 T) is applied, the response clearly indicates an order of magnitude enhancement on transient photothermoelectric current generation compared to the photo-Seebeck effect. Such enhancement supports an ambipolar transport nature of the photo-Nernst current generation in Cd3As2. These results highlight the enhancement of thermoelectric performance can be achieved in topological Dirac semimetals based on the Nernst effect, and our transient studies pave the way for thermoelectric devices applicable for high field circumstance when nonequilibrium state matters. The large THz emission due to highly efficient photothermoelectric conversion is comparable to conventional semiconductors through optical rectification and photo-Dember effect.

cond-mat.mtrl-sci↗

arXiv2022

Direct Light Orbital Angular Momentum Detection in Mid-Infrared based on Type-II Weyl Semimetal TaIrTe4

The capability of direct photocurrent detection of orbital angular momentum (OAM) of light has recently been realized with topological Weyl semimetal, but limited to near infrared wavelength range. The extension of direct OAM detection to midinfrared, a wavelength range that plays important role in a vast range of applications, such as autonomous driving, night vision and motion detection, is challenging and has not yet been realized. This is because most studies of photocurrent responses are not sensitive to the phase information and the photo response is usually very poor in the mid-infrared. In this study, we designed a photodetector based on Type-II Weyl semimetal tantalum iridium tellurides with designed electrode geometries for direct detection of the topological charge of OAM through orbital photogalvanic effect. Our results indicate helical phase gradient of light can be distinguished by a current winding around the optical beam axis with a magnitude proportional to its quantized OAM mode number. The topological enhanced response at mid-infrared of TaIrTe4 further help overcome the low responsivity issues and finally render the direct orbital angular momentum detection capability in mid-infrared. Our study enables on-chip integrated OAM detection, and thus OAM sensitive focal plane arrays in mid-infrared. Such capability triggers new route to explore applications of light carrying OAM, especially that it can crucially promote the performance of many mid-infrared imaging related applications, such as intricate target recognition and night vision.

physics.optics↗

arXiv2019

Observation of Fano resonance in photoluminescence of a two-dimensional magnetic semiconductor

Quantum interference gives rise to the asymmetric Fano resonance line shape when the final states of an electronic transition follows within a continuum of states and a discrete state, which has significant applications in optical switching and sensing. The resonant optical phenomena associated with Fano resonance have been observed by absorption spectra, Raman spectra, transmission spectra, etc., but have rarely been reported in photoluminescence (PL) spectroscopy. In this work, we performed spectroscopic studies on layered chromium thiophosphate (CrPS4), a promising ternary antiferromagnetic semiconductor with PL in near-infrared wavelength region and observed Fano resonance when CrPS4 experiences phase transition into the antiferromagnetic state below Néel temperature (38 K). The photoluminescence of the continuum states results from the d band transitions localized at Cr3+ ions, while the discrete state reaches saturation at high excitation power and can be enhanced by the external magnetic field, suggesting it is formed by an impurity level from extra atomic phosphorus. Our findings provide insights into the electronic transitions of CrPS4 and their connection to its intrinsic magnetic properties.

cond-mat.mtrl-sci↗

arXiv2019

Robust edge photocurrent response on layered Type II Weyl semimetal WTe2

Photo sensing and energy harvesting based on exotic properties of quantum materials and new operation principles have great potentials to break the fundamental performance limit of conventional photodetectors and solar cells. As topological nontrivial materials, Weyl semimetals have demonstrated novel optoelectronic properties that promise potential applications in photo detection and energy harvesting arising from their gapless linear dispersion near Weyl nodes and Berry field enhanced nonlinear optical effect at the vicinity of Weyl nodes. In this work, we demonstrate robust photocurrent generation from charge separation of photoexctied electron-hole pairs at the edge of Td-WTe2, a type-II Weyl semimetal, due to crystalline-symmetry breaking along certain crystal fracture directions and possibly enhanced by robust fermi-arc type surface states. Using scanning photocurrent microscopy (SPCM) measurements, we further demonstrate that the edge current response is robust over a wide excitation photon energy. We find that this robust feature is highly generic, and shall arise universally in a wide class of quantum materials with similar crystal symmetries. In addition, possible connections between these edge photocurrents and topological properties of Weyl semimetals are explored. The robust and generic edge current response demonstrated in this work provides a new type of charge separation mechanism for photosensing and energy harvesting over broad wavelength range.

cond-mat.mes-hall↗

arXiv2019

Experimental Progress on Layered Topological Semimetals

We review recent experimental progresses on layered topological materials, mainly focusing on transitional metal dichalcogenides with various lattice types including 1T, Td and 1T' structural phases. Their electronic quantum states are interestingly rich, and many appear to be topological nontrivial, such as Dirac/Weyl semimetallic phase in multilayers and quantum spin hall insulator phase in monolayers. The content covers recent major advances from material synthesis, basic characterizations, angle-resolved photoemission spectroscopy measurements, transport and optical responses. Following those, we outlook the exciting future possibilities enabled by the marriage of topological physics and two dimensional van der Waals layered heterostructures.

cond-mat.mes-hall↗

arXiv2018

Berry Curvature Enhanced Nonlinear Photogalvanic Response of Type-II Weyl Cone

The experimental manifestation of topological effects in bulk materials under ambient conditions, especially those with practical applications, has attracted enormous research interest. Recent discovery of Weyl semimetal provides an ideal material platform for such endeavors. The Berry curvature in a Weyl semimetal becomes singular at the Weyl node, creating an effective magnetic monopole in the k-space. A pair of Weyl nodes carry quantized effective magnetic charges with opposite signs, and therefore, opposite chirality. Although Weyl-point-related signatures such as chiral anomaly and non-closing surface Fermi arcs have been detected through transport and ARPES measurements, direct experimental evidence of the effective k-space monopole of the Weyl nodes has so far been lacking. In this work, signatures of the singular topology in a type-II Weyl semimetal TaIrTe4 is revealed in the photo responses, which are shown to be directly related to the divergence of Berry curvature. As a result of the divergence of Berry curvature at the Weyl nodes, TaIrTe4 exhibits unusually large photo responsivity of 130.2 mA/W with 4-μm excitation in an unbiased field effect transistor at room temperature arising from the third-order nonlinear optical response. The room temperature mid-IR responsivity is approaching the performance of commercial HgCdTe detector operating at low temperature, making Type-II Weyl semimetal TaIrTe4 of practical importance in terms of photo sensing and solar energy harvesting. Furthermore, the high shift photocurrent response at the Weyl cones is found to enhance the circularly polarized galvanic response from Weyl cones with opposite chirality, which opens new experimental possibilities for studying and controlling the chiral polarization of Weyl Fermions through an in-plane DC electric field in addition to the optical helicities.

cond-mat.mtrl-sci↗

arXiv2016

Review of Ultrafast Spectroscopy Studies of Valley Carrier Dynamics in Two Dimensional Semiconducting Transition Metal Dichalcogenides

The two dimensional layered transition metal dichalcogenides provide new opportunities in future valley based information processing and also provide ideal platform to study excitonic effects. At the center of various device physics toward their possible electronic and optoelectronic applications is understanding the dynamical evolution of various many particle electronic states, especially exciton which dominates the optoelectronic response of TMDs, under the novel context of valley degree of freedom. Here, we provide a brief review of experimental advances in using helicity resolved ultrafast spectroscopy, especially ultrafast pump-probe spectroscopy, to study the dynamical evolution of valley related many particle electronic states in semiconducting monolayer transitional metal dichalcogenides.

cond-mat.mtrl-sci↗

arXiv2016

Ultrafast Broadband Photodetectors based on Three-dimensional Dirac Semimetal Cd3As2

The efforts to pursue photo detection with extreme performance in terms of ultrafast response time, broad detection wavelength range, and high sensitivity have never been exhausted as driven by its wide range of optoelectronic and photonic applications such as optical communications, interconnects, imaging and remote sensing1. 2D Dirac semimetal graphene has shown excellent potential toward high performance photodetector with high operation speed, broadband response and efficient carrier multiplications benefiting from its linear dispersion band structure with high carrier mobility and zero bandgap2-4. As the three dimensional analogues of graphene, Dirac semimetal Cd3As2 processes all advantages of graphene as a photosensitive material but potentially has stronger interaction with light as bulk material and thus enhanced responsivity5,6, which promises great potential in improving the performance of photodetector in various aspects . In this work, we report the realization of an ultrafast broadband photodetector based on Cd3As2. The prototype metal-Cd3As2-metal photodetector exhibits a responsivity of 5.9 mA/W with response time of about 6.9 ps without any special device optimization. Broadband responses from 0.8 eV to 2.34 eV are measured with potential detection range extendable to far infrared and terahertz. Systematical studies indicate that the photo-thermoelectric effect plays important roles in photocurrent generation, similar to that in graphene. Our results suggest this emerging class of exotic quantum materials can be harnessed for photo detection with high sensitivity and high speed (~145 GHz) in challenging middle/far-infrared and THz range.

cond-mat.mes-hall↗