arXiv subjects

Lijun Zhu

Publications and source records attributed to Lijun Zhu.

At least 55 records · Page 3Linked to original sources

arXiv2024

Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness

Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along different directions, which significantly affects the safety of quadruped robot navigation. This paper proposes a navigation framework that takes into account the motion anisotropy of quadruped robots including kinodynamic trajectory generation, nonlinear trajectory optimization, and nonlinear model predictive control. In simulation and real robot tests, we demonstrate that our motion-anisotropy-aware navigation framework could: (1) generate more efficient trajectories and realize more agile quadruped navigation; (2) significantly improve the navigation safety in challenging scenarios. The implementation is realized as an open-source package at https://github.com/ZWT006/agile_navigation.

cs.RO↗

arXiv2024

A Two-Field-Scan Harmonic Hall Voltage Analysis For Fast, Accurate Quantification Of Spin-Orbit Torques In Magnetic Heterostructures

The efficiencies of the spin-orbit torques (SOTs) play a key role in the determination of the power consumption, integration density, and endurance of SOT-driven devices. Accurate and time-efficient determination of the SOT efficiencies is of great importance not only for evaluating the practical potential of SOT devices but also for developing new mechanisms for enhancing the SOT efficiencies. Here, we develop a "two-field-scan" harmonic Hall voltage (HHV) analysis that collects the second HHV as a function of a swept in-plane magnetic field at 45° and 0° relative to the excitation current. We demonstrate that this two-field-scan analysis is as accurate as the well-established but time-consuming angle-scan HHV analysis even in the presence of considerable thermoelectric effects but takes more than a factor of 7 less measurement time. We also show that the 3-parameter fit of the HHV data from a single field scan at 0°, which is commonly employed in the literature, is not reliable because the employment of too many free parameters in the fitting of the very slowly varying HHV signal allows unrealistic pseudo-solution and thus erroneous conclusion about the SOT efficiencies.

cond-mat.mes-hall↗

arXiv2023

Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor

Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the perceived map, however, the non-ideal perception induces uncertainty, which is rarely considered in trajectory generation. In this paper, we propose Distributionally Robust Safe Corridor Constraints (DRSCCs) to consider the uncertainty of the safe corridor. Then, we integrate DRSCCs into the trajectory optimization framework using Bernstein basis polynomials. Theoretically, we rigorously prove that the trajectory optimization problem incorporating DRSCCs is equivalent to a computationally efficient, convex quadratic program. Compared to the nominal TO, our method enhances navigation safety by significantly reducing the infeasible motions in presence of uncertainty. Moreover, the proposed approach is validated through two robotic applications, a micro Unmanned Aerial Vehicle (UAV) and a quadruped robot Unitree A1.

cs.RO↗

arXiv2023

Giant coercivity, resistivity upturn, and anomalous Hall effect in ferrimagnetic FeTb

Despite the blooming interest, the transition-metal rare-earth ferrimagnets have not been comprehensively understood in terms of their coercivity and transport properties. Here, we report a systematic study of the magnetic and transport properties of ferrimagnetic FeTb alloy by varying the layer thickness and temperature. The FeTb is tuned from the Tb-dominated regime to the Fe-dominated regime via the layer thickness, without varying the composition. The coercivity closely follows the $1/\cosθ_H$ scaling (where $θ_H$ is the polar angle of the external magnetic field) and increases quasi-exponentially upon cooling (exceeding 90 kOe at low temperatures), revealing that the nature of the coercivity is the thermally-assisted domain wall depinning field. The resistivity exhibits a quasi-linear upturn upon cooling possibly due to thermal vibrations of the structure factor of the amorphous alloy. The existing scaling laws of the anomalous Hall effect in the literature break down for the amorphous FeTb that are either Fe- or Tb-dominated. These findings should advance the understanding of the transition-metal-rare-earth ferrimagnets and the associated ferrimagnetic phenomena in spintronics.

cond-mat.mtrl-sci↗

arXiv2023

Magnetization Switching in van der Waals Systems by Spin-Orbit Torque

Electrical switching of magnetization via spin-orbit torque (SOT) is of great potential in fast, dense, energy-efficient nonvolatile magnetic memory and logic technologies. Recently, enormous efforts have been stimulated to investigate switching of perpendicular magnetization in van der Waals systems that have unique, strong tunability and spin-orbit coupling effect compared to conventional metals. In this review, we first give a brief, generalized introduction to the spin-orbit torque and van der Waals materials. We will then discuss the recent advances in magnetization switching by the spin current generated from van der Waals materials and summary the progress in the switching of Van der Waals magnetization by the spin current.

cond-mat.mtrl-sci↗

arXiv2023

Switching of Perpendicular Magnetization by Spin-Orbit Torque

Magnetic materials with strong perpendicular magnetic anisotropy are of great interest for the development of nonvolatile magnetic memory and computing technologies due to their high stabilities at the nanoscale. However, electrical switching of such perpendicular magnetization in an energy-efficient, deterministic, scalable manner has remained a big challenge. This problem has recently attracted enormous efforts in the field of spintronics. Here, I review recent advances and challenges in the understanding of the electrical generation of spin currents, the switching mechanisms and the switching strategies of perpendicular magnetization, the switching current density by spin-orbit torque of transverse spins, the choice of perpendicular magnetic materials, and summarize the progress in prototype perpendicular SOT memory and logic devices toward the goal of energy-efficient, dense, fast perpendicular spin-orbit torque applications.

cond-mat.mtrl-sci↗

arXiv2022

Boosting spin-orbit torque efficiency in spin-current generator/magnet/oxide superlattices

Efficient manipulation of magnetic materials is essential for spintronics. In spin-current generator/magnet bilayers, the efficiency of spin-orbit torques per magnetic layer thickness scales inversely with the magnetic layer thickness, leading to considerable power increase in applications with large magnetic layer thickness. Here, we develop a 3D spin-orbit material scheme in which the spin torque efficiency can be remarkably boosted up by stacking [spin-current generator/magnet/oxide]n superlattices, with the oxide layers breaking the inversion symmetry. In contrast, the spin torque diminishes in [spin-current generator/magnet]n superlattices lacking inversion symmetry breaking. These results advances the understanding of spin-orbit torques in magnetic multilayers and establishes spin-current generator/magnet/oxide superlattices as advantageous bricks for development of high energy-efficiency, high-endurance, and high-density spintronic memory and computing.

cond-mat.mtrl-sci↗

arXiv2022

Strong Spin-Orbit Torque Induced by the Intrinsic Spin Hall Effect in Cr1-xPtx

We report on a spin-orbit torque study of the spin current generation in Cr1-xPtx alloy, using the light 3d ferromagnetic Co as the spin current detector. We find that the dampinglike spin-orbit torque of Cr1-xPtx/Co bilayers can be enhanced by tuning the Cr concentration in the Cr1-xPtx layer, with a maximal value of 0.31 at the optimal composition of Cr0.2Pt0.8. We find that the spin current generation in the Cr1-xPtx alloy can be fully understood by the characteristic trade-off between the intrinsic spin Hall conductivity of Pt and the carrier lifetime in the dirty limit. We find no evidence for the spin current generation by other mechanisms in this material, revealing that the role of Cr is found to be simply the same as other metals and oxides in previous studies. This work also establishes the low-resistivity Cr0.2Pt0.8 as an energy-efficient spin-orbit torque provider for magnetic memory and computing technologies.

cond-mat.mtrl-sci↗

arXiv2022

Strong variation of spin-orbit torques with relative spin relaxation rates in ferrimagnets

Spin-orbit torques (SOTs) have been widely understood as an interfacial transfer of spin that is independent of the bulk properties of the magnetic layer. Here, we report that SOTs acting on ferrimagnetic FexTb1-x layers decrease and vanish upon approaching the magnetic compensation point because the rate of spin transfer to the magnetization becomes slower than the rate of spin relaxation into the crystal lattice due to spin-orbit scattering. These results indicate that the relative rates of competing spin relaxation processes within magnetic layers play a critical role in determining the strength of SOTs, which provides a unified understanding for the diverse and even seemingly puzzling SOT phenomena in ferromagnetic and compensated systems. Our work indicates that spin-orbit scattering within the magnet should be minimized for efficient SOT devices. We also find that the interfacial spin-mixing conductance of interfaces of ferrimagnetic alloys (such as FexTb1-x) is as large as that of 3d ferromagnets and insensitive to the degree of magnetic compensation.

cond-mat.mtrl-sci↗

arXiv2022

Current-induced perpendicular effective magnetic field in magnetic heterostructures

Generation of perpendicular effective magnetic field or perpendicular spins (σz) is central for the development of energy-efficient, scalable, and external-magnetic-field-free spintronic memory and computing technologies. Here, we report the first identification and the profound impacts of a significant effective perpendicular magnetic field that can arise from asymmetric current spreading within magnetic microstrips and Hall bars. This effective perpendicular magnetic field can exhibit all the three characteristics that have been widely assumed in the literature to "signify" the presence of a flow of σz, i.e., external-magnetic-field-free current switching of uniform perpendicular magnetization, a sin2ϕ-dependent contribution in spin-torque ferromagnetic resonance signal of in-plane magnetization (ϕ is the angle of the external magnetic field with respect to the current, and a ϕ-independent but field-dependent contribution in the second harmonic Hall voltage of in-plane magnetization. This finding suggests that it is critical to include current spreading effects in the analyses of various spin polarizations and spin-orbit torques in magnetic heterostructure. Technologically, our results provide perpendicular effective magnetic field induced by asymmetric current spreading as a novel, universally accessible mechanism for efficient, scalable, and external-magnetic-field-free magnetization switching in memory and computing technologies.

cond-mat.mtrl-sci↗

arXiv2022

Strong bulk Dzyaloshinskii-Moriya interaction in composition-uniform centrosymmetric magnetic single layers

Dzyaloshinskii-Moriya interaction (DMI) is the key ingredient of chiral spintronic phenomena and the emerging technologies based on such phenomena. A nonzero DMI usually occurs at magnetic interfaces or within non-centrosymmetric single crystals. Here, we report the observation of a strong unexpected DMI within a centrosymmetric polycrystalline ferromagnet that has neither a crystal inversion symmetry breaking nor a composition gradient. This DMI is a bulk effect, increases with the thickness of the magnetic layer, and is insensitive to the symmetry of the interfaces or the neighboring materials. We observe a total DMI strength that is a factor of >2 greater than the highest interfacial DMI in the literature. This DMI most likely arises from the strong spin-orbit coupling, strong orbital hybridization, and a "hidden" long-range asymmetry in the material. Our discovery of the strong unconventional bulk DMI in centrosymmetric, composition-uniform magnetic single layers provide fundamental building blocks for the emerging field of spintronics and will stimulate the exploitation of unconventional spin-orbit phenomena in a wide range of materials.

cond-mat.mtrl-sci↗

arXiv2022

A Sampling Control Framework and Applications to Robust and Adaptive Control

In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of periodic sampling and event-triggered control law renders the error dynamics bounded-input-bounded-state (BIBS), and when coupled with system dynamics, achieves global or semi-global stabilization. The proposed framework is then extended to tackle the event-triggered and periodic sampling stabilization for a system where only partial state is available for feedback and the system is subject to parameter uncertainties. The proposed framework is further extended to solve two classes of event-triggered adaptive control problems where the emulated closed-loop system does not admit an input-to-state stability (ISS) Lyapunov function. For the first class of systems with linear parameterized uncertainties, even-triggered global adaptive stabilization is achieved without the global Lipschitz condition on nonlinearities as often required in the literature. For the second class of systems with uncertainties whose bound is unknown, the event-triggered adaptive (dynamic) gain controller is designed for the first time. Finally, theoretical results are verified by two numerical examples.

math.OC↗

arXiv2022

Giant bulk spin-orbit torque and efficient electrical switching in single ferrimagnetic FeTb layers with strong perpendicular magnetic anisotropy

Efficient manipulation of antiferromagnetically coupled materials that are integration-friendly and have strong perpendicular magnetic anisotropy (PMA) is of great interest for low-power, fast, dense magnetic storage and computing. Here, we report a distinct, giant bulk damping-like spin-orbit torque in strong-PMA ferrimagnetic Fe100-xTbx single layers that are integration-friendly (composition-uniform, amorphous, sputter-deposited). For sufficiently-thick layers, this bulk torque is constant in the efficiency per unit layer thickness, ξ_DL^j/t, with a record-high value of 0.036nm-1, and the dampinglike torque efficiency ξ_DL^j achieves very large values for thick layers, up to 300% for 90 nm layers. This giant bulk torque by itself switches tens of nm thick Fe100-xTbx layers that have very strong PMA and high coercivity at current densities as low as a few MA/cm2. Surprisingly, for a given layer thickness, ξ_DL^j shows strong composition dependence and becomes negative for composition where the total angular momentum is oriented parallel to the magnetization rather than antiparallel. Our findings of giant bulk spin torque efficiency and intriguing torque-compensation correlation will stimulate study of such unique spin-orbit phenomena in a variety of ferrimagnetic hosts. This work paves a promising avenue for developing ultralow-power, fast, dense ferrimagnetic storage and computing devices.

cond-mat.mtrl-sci↗

arXiv2022

Josephson-Coulomb drag effect between graphene and LaAlO3/SrTiO3 interfacial superconductor

Coulomb drag refers to the phenomenon that a charge current in one electronic circuit induces a responsive current in a neighboring circuit solely through Coulomb interactions. For conventional interactions between fermionic particles such as electrons, the as-induced drag current in the passive layer is orders of magnitude weaker than the active current due to strong dielectric screening effect between the two. Here we propose a 'super' Coulomb drag effect between an active normal conductor and a passive superconductor of Josephson junction arrays, whereby the passive current can greatly exceed the active. The drag force originates from the interactions between the substantially enhanced dynamical quantum fluctuations of the superconducting phases in the passive layer and the normal electrons in the active layer. We demonstrate this effect in the devices composed of monolayer graphene and LaAlO3/SrTiO3 heterointerface, an inherently non-uniform superconductor described by Josephson junction arrays. Remarkable drag signal is observed in the superconducting transition regime of the LaAlO3/SrTiO3 interface, with its sign independent of the carrier type in the graphene layer. The estimated passive-to-active ratio can reach about 0.3 at the optimal gate voltage and the temperature dependence follows that of the typical Josephson energy between superconducting puddles. Strikingly, the ratio ought to be as large as 10^5 at zero temperature by theoretical extrapolation. From engineering perspective, our device may work as current or voltage transformers, and the drag mechanism lays the foundation for synchronizing Josephson-junction-array-based terahertz radiators.

cond-mat.mes-hall↗

arXiv2022

An Improved Active Disturbance Rejection Control for Bode's Ideal Transfer Function

This paper presents an active disturbance rejection control (ADRC) scheme with an improved fractional-order extended state observer (IFO-ESO).Based on the new ADRC scheme, the open-loop transfer function of a high-order system can be approximately rendered to a so-called Weighed Bode's ideal transfer function, whose closed-loop performance is less prone to the controller parameter variations. The design of the IFO-ESO helps reduce the number of system states to be estimated and improves the performance of closed-loop system over %the previously proposed the fractional-order active disturbance rejection control (FO-ADRC) in the literature. Compared with the integer-order active disturbance rejection controller (IO-ADRC) and FO-ADRC, the auxiliary tracking controller of IFO-ADRC has a simpler form. Frequency-domain analysis shows that IFO-ESO has better estimation performance than fractional-order ESO, and time-domain simulation demonstrates that the proposed ADRC has better transient performance and is more robust against the parameter variations than FO-ADRC and IO-ADRC. The proposed ADRC is applied to permanent magnet synchronous motor (PMSM) servo control system and demonstrates its capability in a real-world application.

eess.SY↗

arXiv2021

An Improved Fractional-Order Active Disturbance Rejection Control: Performance Analysis and Experiment Verification

This paper presents an improved active disturbance rejection control scheme (IFO-ADRC) with an improved fractional-order extended state observer (IFO-ESO). The structural information of the system is utilized in IFO-ESO rather than buried as in the typical fractional-order extended state observer (FO-ESO) and help significantly improve the performance of IFO-ESO and closed-loop system. Compared with the integer-order active disturbance rejection controller (IO-ADRC), the auxiliary tracking controller of IFO-ADRC has a simpler form and fewer parameters need to be tuned. Frequency-domain analysis shows that IFO-ESO has better performance over the larger frequency band than FO-ESO, and time-domain simulation shows that IFO-ADRC has better transient performance and is more robust against the parameter variations than traditional fractional-order active disturbance rejection controller (FO-ADRC) and IO-ADRC. The IFO-ADRC is applied to permanent magnet synchronous motor (PMSM) servo control system and demonstrates its capability in the real-world application.

eess.SY↗

arXiv2021

A new active disturbance controller based on an improved fraction-order extended state observer

This paper proposes a new fraction-order active disturbance rejection controller based on an improved fraction-order extended state observer (IFESO) for a class of fraction-order systems. Applying the IFESO, the fraction-order system can be approximated as an integer-order integrator (1/s). The parameters that ensure the stability of the IFESO and closed-loop system are provided. The frequency-domain analysis shows that the IFADRC has a stronger disturbance estimation performance for the fraction-order system than an integer-order active disturbance rejection controller (IADRC). The simulation results demonstrates that the proposed IFADRC behaves better than the IADRC and the FADRC.

eess.SY↗

arXiv2021

Interfacial Dzyaloshinskii-Moriya interaction and spin-orbit torque in Au1-xPtx/Co bilayers with varying interfacial spin-orbit coupling

The quantitative roles of the interfacial spin-orbit coupling (SOC) in Dzyaloshinskii-Moriya interaction (DMI) and dampinglike spin-orbit torque (τDL) have remained unsettled after a decade of intensive study. Here, we report a conclusive experiment evidence that, because of the critical role of the interfacial orbital hybridization, the interfacial DMI is not necessarily a linear function of the interfacial SOC, e.g. at Au1-xPtx/Co interfaces where the interfacial SOC can be tuned significantly via strongly composition (x)-dependent spin-orbit proximity effect without varying the bulk SOC and the electronegativity of the Au1-xPtx layer. We also find that τDL in the Au1-xPtx/Co bilayers varies distinctly from the interfacial SOC as a function of x, indicating no important τDL contribution from the interfacial Rashba-Edelstein effect.

cond-mat.mtrl-sci↗