arXiv subjects

Lijun Zhu

Publications and source records attributed to Lijun Zhu.

At least 37 records · Page 2Linked to original sources

arXiv2025

Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot

Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the trailer's nonholonomic constraints, and the system's underactuation. To address these challenges, we first develop a hybrid dynamics model that captures the cable's taut and slack states. A search algorithm is then introduced to compute a suboptimal trajectory while incorporating mode transitions. Additionally, we propose a novel collision avoidance constraint based on geometric polygons to formulate the trajectory optimization problem for the hybrid system. The proposed method is implemented on a Unitree A1 quadruped robot with a customized cable-trailer and validated through experiments. The real system demonstrates both agile and safe motion with cable mode transitions.

cs.RO↗

arXiv2025

Scaling of Magnetic Domain Walls in Perpendicular Magnetic Anisotropy Systems

Magnetic domain walls play a critical role in the nanoscale evolution of magnetic devices. Despite the early efforts, a complete understanding of the micromagnetic evolution of the width and the type of magnetic domain walls has still remained missing. Here, we report a combined analytical and micromagnetic simulation study and establish the scaling of the magnetic domains as a function of the exchange stiffness (A), uniaxial perpendicular magnetic anisotropy (Ku), saturation magnetization (Ms), and Dzyaloshinskii-Moriya interaction (DMI), and shape anisotropy of the magnetic device. We find that the width of both Bloch and Neel walls scales excellently with the analytical prediction. The DMI is found to have little influence on the domain wall width but strongly affect the type of the domain wall. The domain wall has a Bloch configuration at zero DMI and gradually transitions to Neel configuration upon increase of the DMI. The shape anisotropy of the magnetic domain wall also affects the domain wall width. These results have established a comprehensive, conclusive understanding of the magnetic domain walls within spintronics devices.

cond-mat.mes-hall↗

arXiv2025

Physical origin of current-induced switching angle shift in magnetic heterostructures

Accurate quantification of the spin-orbit torques (SOTs) is critical for the identification and applications of new spin-orbitronic effects. One of the most popular techniques to qualify the SOTs is the switching angle shift, where the applied direct current was assumed to shift, via domain wall depinning during the anti-domain expansion, the switching angle of a perpendicular magnetization in a linear proportion manner under a large rotating magnetic field. Here, we report that, for the most commonly employed perpendicular magnetization heterostructures in spintronics (e.g., those based on FeCoB, Co, and Co/Ni multilayers), the switching angle shift considerably misestimates the SOT within the domain wall depinning analysis of the slope of the linear-in-current scaling and may also have a non-zero residual value at zero direct current. Our experiments and simulations unveil that the switching angle shift is most likely dominated by the chiral asymmetric nucleation rather than the expansion of the anti-domains. The in-plane field from external magnet and current-induced SOTs lower the perpendicular nucleation field and thus the required switching angle, ultimately leading to underestimation of the SOTs by the domain wall depinning analysis. These results have advanced the understanding of magnetization switching of spintronic devices.

cond-mat.mes-hall↗

arXiv2025

A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and extended state observers (ESO) to estimate external disturbances and model uncertainties. This estimator is embedded within the whole-body control framework to compensate for disturbances in the legged system. Second, a comprehensive whole-body disturbance rejection control framework (WB-DRC) is introduced, accounting for the robot's full-body dynamics. Compared to previous whole-body control frameworks, WB-DRC effectively handles external disturbances and model uncertainties, with the potential to adapt to complex terrain. Third, simulations of both biped and quadruped robots are conducted in the Gazebo simulator to demonstrate the effectiveness and versatility of WB-DRC. Finally, extensive experimental trials on the quadruped robot validate the robustness and stability of the robot system using WB-DRC under various disturbance conditions.

cs.RO↗

arXiv2025

Strong Enhancement of Spin-Orbit Torques and Perpendicular Magnetic Anisotropy in [Pt0.75Ti0.25/Co-Ni multilayer/Ta]n Superlattices

We report the development of the [Pt0.75Ti0.25/Co-Ni multilayer/Ta]n superlattice with strong spin-orbit torque, large perpendicular magnetic anisotropy, and low switching current density. We demonstrate that the efficiency of the spin-orbit torque increases linearly with the repetition number n, which is in good agreement with the spin Hall effect of the Pt0.75Ti0.25 being the only source of the spin-orbit torque. Meanwhile, the perpendicular magnetic anisotropy field is also enhanced by more than a factor of 2 as n increases from 1 to 6. The [Pt0.75Ti0.25/(Co/Ni)3/Ta]n superlattice also exhibits deterministic, low-current-density magnetization switching despite the very large layer thicknesses. The combination of the strong spin-orbit torque, perpendicular magnetic anisotropy, and low-current-density switching makes the [Pt0.75Ti0.25/Co-Ni multilayer/Ta]n superlattice a compelling material candidate for ultrafast, energy-efficient, long-data-retention spintronic technologies.

cond-mat.mtrl-sci↗

arXiv2025

Absence of orbital current torque in Ta/ferromagnet bilayers

It has become a heated debate as to whether the orbital Hall effect of a material could generate a non-local orbital current and a non-zero spin-orbit torque on an adjacent magnetic layer. Here, we report unambiguous evidence that, regardless of the ferromagnets (FMs) (e.g., Ni, Ni81Fe19, Fe, Fe60Co20B20, and FePt), the spin-orbit torque generated by an adjacent Ta, which is predicted to have a 50 times greater positive orbital Hall conductivity than the negative spin Hall conductivity, has essentially the same, negative efficiency, in agreement with the spin Hall effect of Ta being the only source of the interfacial torque. We identify that the constant, positive estimate of the torque of the Ta/FM samples from spin-torque ferromagnetic resonance (ST-FMR) analysis in a specific FM thickness range (>2 nm for Ni), that was heavily cited in the literature to signify an orbital current torque but strongly disagrees with the fairly long relaxation length in other orbital current torque claims, results from the overlook of a significant thick-dependent self-induced ST-FMR signal of the FM. These results indicate the absence of orbital current torque in Ta/ferromagnet systems, regardless of the type and the layer thickness of the ferromagnets.

cond-mat.mtrl-sci↗

arXiv2025

Enhancing z spin generation in trivial spin Hall materials for scalable, energy-efficient, field-free, complete spin-orbit torque switching applications

Despite the remarkable efforts in the past two decades, it has remained a major challenge to achieve switching of perpendicularly magnetized spin-orbit torque devices in a scalable, energy-efficient, field-free, integration-friendly, and complete manner. Here, we report giant enhancement of z spin generation in low-resistivity spin Hall metal/FeCoB devices by alloying the spin Hall metal Pt with Ti and by electric asymmetry engineering. The dampinglike spin torques of z spins and y spins are enhanced by 6 and 3 times relative to that of conventional Pt/FeCoB and enable complete, record-low-power, deterministic switching of FeCoB devices with strong perpendicular magnetic anisotropy and high coercivity. The Pt75Ti25/FeCoB heterostructure also exhibits relatively low resistivity, wafer-scale uniform sputter-deposition on silicon oxide, good compatibility with magnetic tunnel junctions, and excellent thermal stability of exceeding 400 C. These results unambiguously establish the Pt75Ti25/FeCoB as the most compelling candidate for solving the bottleneck of scalable, energy-efficient, field-free, integration-friendly, and complete spin-orbit torque switching technologies. This work also provides a universal strategy for developing high-performance generators of z spin current and will stimulate the exploration of exotic spin currents by alloying trivial spin Hall materials.

cond-mat.mtrl-sci↗

arXiv2025

Microscopic mechanisms of Strong Electron Scattering and Giant Anomalous Hall Effect in high-Curie-temperature Fe3GaTe2 van der Waals Films

Van der Waals ferromagnet Fe3GaTe2 with room-temperature perpendicular magnetic anisotropy and strong anomalous Hall effect has attracted considerable interest for their potential in spintronics. However, the microscopic mechanisms and manipulation of the electron scattering and the anomalous Hall effect of Fe3GaTe2 have remained unsettled. Here, we demonstrate strong tuning of the electron scattering and anomalous Hall effect of pattern-defined Fe3GaTe2 Hall-bar devices with perpendicular magnetic anisotropy, high Curie temperature (340 K, as high as that of Fe3GaTe2 bulk), and giant anomalous Hall effect by varying the layer thickness and temperature. Temperature-dependent resistivity experiments reveal that the electron scattering of the high-quality Fe3GaTe2 is dominated by impurity scattering and phonon scattering, regardless of the thickness. Combined temperature- and thickness-dependent scaling analyses of the anomalous Hall resistivity reveal that the anomalous Hall effect of the Fe3GaTe2 is predominantly from the positive, temperature-independent skew-scattering contribution that competes with negative temperature-independent, side-jump contribution, and negative, temperature-dependent intrinsic Berry-curvature contribution. The intrinsic anomalous Hall conductivity decreases rapidly with increasing impurity scattering, which is consistent with the characteristic variation of intrinsic Hall conductivities in the dirty-metal regime. These findings advance the understanding of electron scattering and the anomalous Hall effect in van der Waals magnets and would benefit the application of the Fe3GaTe2 in spintronics.

cond-mat.mtrl-sci↗

arXiv2025

MonoSLAM: Robust Monocular SLAM with Global Structure Optimization

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable localization in low-texture environments, where traditional point-based systems often fail due to insufficient visual features, we introduce a novel approach leveraging Global Primitives structural information to improve the system's robustness and accuracy performance. Our key innovation lies in constructing vanishing points from line features and proposing a weighted fusion strategy to build Global Primitives in the world coordinate system. This strategy associates multiple frames with non-overlapping regions and formulates a multi-frame reprojection error optimization, significantly improving tracking accuracy in texture-scarce scenarios. Evaluations on various datasets show that our system outperforms state-of-the-art methods in trajectory precision, particularly in challenging environments.

cs.RO↗

arXiv2025

Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains

In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer is the integration of dynamic gains and comparison functions, which guarantees predefined convergence of the disturbance estimation error, including ultimately uniformly bounded, asymptotic, and exponential convergence, among various types. The properties of dynamic gains and the sufficient conditions for comparison functions are detailed to guide engineers in designing desired convergence behaviors. Notably, the observer functions effectively without the need for upper bound information of the disturbance or its derivative, enhancing its engineering applicability. An experimental example corroborates the theoretical advancements achieved.

cs.RO↗

arXiv2024

Linear Enhancement of Spin-Orbit Torques and Absence of Bulk Rashba-Type Spin Splitting in Perpendicularly Magnetized [Pt/Co/W]n Superlattices

The development of magnetic heterostructures with strong spin-orbit torques (SOTs), low impedance, strong perpendicular magnetic anisotropy (PMA), and good integration compatibility at the same time is central for high-performance spintronic memory and computing applications. Here, we report the development of the symmetry-broken spin-orbit superlattice [Pt/Co/W]n that can be sputtered-deposited on commercial oxidized silicon substrates and have giant SOTs, strong uniaxial PMA of 9.2 Merg/cm3. The dampinglike and fieldlike SOTs of the [Pt/Co/W]n superlattices exhibit a linear increase with the repeat number n and reach the giant values of 225% and -33% (two orders of magnitude greater than that in clean-limit Pt) at n = 12, respectively. The dampinglike SOT is also of the opposite sign and much greater in magnitude than the fieldlike SOT, regardless of the number of n. These results clarify that the spin current that generates SOTs in the [Pt/Co/W]n superlattices arises predominantly from the spin Hall effect rather than bulk Rashba-type spin splitting, providing a unified understanding of the SOTs in the superlattices. We also demonstrate deterministic switching in thicker-than-50-nm PMA [Pt/Co/W]12 superlattices at a low current density. This work establishes the [Pt/Co/W]n superlattice as a compelling material candidate for ultra-fast, low-power, long-retention nonvolatile spintronic memory and computing technologies.

cond-mat.mtrl-sci↗

arXiv2024

Physics Origin of Universal Unusual Magnetoresistance

The discovery of the unusual magnetoresistance (UMR) during the rotation of magnetization in the plane perpendicular to the electric current, which has been typically attributed to magnetization-dependent interfacial reflection of spin current, has brought remarkable impacts on the understanding and application of a variety of spintronic phenomena. Here, we report that giant UMR occurs also in single-layer magnetic metals and exhibits high-order contributions and a universal sum rule, which agree well with the physics origin of the recently proposed two-vector magnetoresistance that simply considers electron scattering by the magnetization vector and interfacial electric field, without the need for any relevance to spin current. Revisiting of the literature data reveals that the most representative data that were used to claim spin Hall magnetoresistance or other magnetoresistances related or unrelated to spin current can be understood unifiedly by the two-vector MR theory. Experimental and theoretical results against spin-current-related magnetoresistances, but not the two-vector magnetoresistance, are discussed.

cond-mat.mes-hall↗

arXiv2024

Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent Systems

A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design parameters and is inconsistent across the agents. In this paper, we study the prescribed-time cooperative output regulation (PTCOR) problem for a class of linear heterogeneous MASs under a directed communication graph, where the settling time of every agent can be specified a priori and thus consistent. As a special case of PTCOR, the necessary and sufficient condition for prescribed-time output regulation of an individual system is first discussed. Then, the PTCOR problem is converted into two cascaded subsystem, where the first one composed of distributed estimate errors and local estimate errors and the second one is for local tracking errors. The criterion for prescribed-time stabilization of the cascaded system is proposed and is found to be different from that of traditional asymptotic stabilization of a cascaded system. Under the criterion and sufficient condition, the general PTCOR problem is studied in two scenarios including state feedback control and measurement output feedback control. In particular, a distributed prescribed-time observer for each subsystem is explicitly constructed to estimate the exosystem's state. Based on the observer, a distributed controller is proposed to achieve convergence of the regulated output to zero within a prescribed-time.

eess.SY↗

arXiv2024

Efficient generation of out-of-plane polarized spin current in polycrystalline heavy metal devices with broken electric symmetries

Spin currents of perpendicularly polarized spins (z spins) by an in-plane charge current have received blooming interest for the potential in energy-efficient spin-orbit torque switching of perpendicular magnetization in the absence of a magnetic field. However, generation of z spins is limited mainly to magnetically or crystallographically low-symmetry single crystals (such as non-colinear antiferromagnets) that are hardly compatible with the integration to semiconductor circuits. Here, we report efficient generation of z spins in sputter-deposited polycrystalline heavy metal devices via a new mechanism of broken electric symmetries in both the transverse and perpendicular directions. Both the dampinglike and fieldlike spin-orbit torques of z spins can be tuned significantly by varying the degree of the electric asymmetries via the length, width, and thickness of devices as well as by varying the type of the heavy metals. We also show that the presence of z spins enables deterministic, nearly-full, external-magnetic-field-free switching of a uniform perpendicularly magnetized FeCoB layer, the core structure of magnetic tunnel junctions, with high coercivity at a low current density. These results establish the first universal, energy-efficient, integration-friendly approach to generate z-spin current by electric asymmetry design for dense and low-power spin-torque memory and computing technologies and will stimulate investigation of z-spin currents in various polycrystalline materials.

cond-mat.mtrl-sci↗

arXiv2024

Small-Gain Theorem Based Distributed Prescribed-Time Convex Optimization For Networked Euler-Lagrange Systems

In this paper, we address the distributed prescribed-time convex optimization (DPTCO) for a class of networked Euler-Lagrange systems under undirected connected graphs. By utilizing position-dependent measured gradient value of local objective function and local information interactions among neighboring agents, a set of auxiliary systems is constructed to cooperatively seek the optimal solution. The DPTCO problem is then converted to the prescribed-time stabilization problem of an interconnected error system. A prescribed-time small-gain criterion is proposed to characterize prescribed-time stabilization of the system, offering a novel approach that enhances the effectiveness beyond existing asymptotic or finite-time stabilization of an interconnected system. Under the criterion and auxiliary systems, innovative adaptive prescribed-time local tracking controllers are designed for subsystems. The prescribed-time convergence lies in the introduction of time-varying gains which increase to infinity as time tends to the prescribed time. Lyapunov function together with prescribed-time mapping are used to prove the prescribed-time stability of closed-loop system as well as the boundedness of internal signals. Finally, theoretical results are verified by one numerical example.

math.OC↗

arXiv2024

Adaptive Event-triggered Control with Sampled Transmitted Output and Controller Dynamics

The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature, however the controller must partially reside at the plant side where the computation capacity is required. In this paper, all controller components are moved to the controller side and their dynamics use sampled states rather than continuous one with the benefit of directly estimating next triggering instance of some conditions and avoiding constantly checking event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for the stabilization is no longer differentiable. Second, the plant output is sampled to transmit at plant side and sampled again at controller side to construct the controller, and the two asynchronous samplings make the analysis more involving. This paper solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis and a new lemma quantifying the error bound between actual output signal and sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of proposed scheme.

eess.SY↗

arXiv2024

Berry phases in Coulomb drag of double-layer graphene system

Recent experiments suggest quantum interference effects in the Coulomb drag of double-layer graphene systems. By accounting for correlated interlayer impurity scattering under a weak magnetic field, our theoretical results reveal drag resistivities resembling those in weak (anti-)localization. It is established that the quantum interference effect is most significant when the chemical potentials match. The theory clarifies the roles of intra- and interlayer Berry phases in Coulomb drag in double-layer graphene systems and helps delineate the intra- and intervalley contributions. These insights are valuable for designing graphene-based electronic devices exploiting quantum effects.

cond-mat.mes-hall↗

arXiv2024

Strongly asymmetric magnetization switching and programmable complete Boolean logic enabled by long-range intralayer Dzyaloshinskii-Moriya interaction

Electrical switching of magnetization is central to spintronics. Despite the enormous efforts on the spin torques and the Dzyaloshinskii-Moriya interaction (DMI) effects, some fundamental physics for electrical switching of magnetization is still missing as indicated by a number of remarkable long-standing puzzles. Here, we report the discovery of the long-range intralayer DMI effect widely existing in magnetic heterostructure, which is distinct from the yet-known DMI effects as it describes the chiral coupling of two orthogonal magnetic domains within the same magnetic layer via the mediation of an adjacent heavy metal layer. The long-range intralayer DMI generates a strong perpendicular effective magnetic field (H_DMI^z) on the perpendicular magnetization. Characteristically, H_DMI^z varies with the sign/magnitude of the interfacial DMI constant, the applied in-plane magnetic fields, and the distribution of the perpendicular magnetic anisotropy. The long-range intralayer DMI results in striking consequences including the strongly asymmetric current/field switching of perpendicular magnetization, hysteresis loop shift of perpendicular magnetization in the absence of in-plane direct current, and sharp, complete switching of perpendicular magnetization purely by an in-plane magnetic field. Utilizing the long-range intralayer DMI effect, we demonstrate programable, complete Boolean logic operations (i.e., AND, NAND, NOT, OR, and NOR) within a single spin-orbit torque device. These results will stimulate the investigation of the long-range intralayer DMI effect and its impacts on a variety of spintronic devices.

cond-mat.mtrl-sci↗