arXiv subjects

Sehoon Oh

Publications and source records attributed to Sehoon Oh.

At least 19 recordsLinked to original sources

arXiv2026

Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization

This paper addresses the sim-to-real gap in dynamics arising when a parallel-link mechanism is represented by a serial-tree surrogate in simulation. Conventional Jacobian-based state and torque mappings preserve consistency with the kinematic and virtual-work relations but do not account for the coordinate-induced redistribution of actuator inertia and damping and the linkage inertia omitted during serial-tree reduction. To address this gap, Simulator-Side System Normalization (S3N) is proposed to normalize the serial-tree simulator's effective dynamics while preserving its tree topology. S3N-Act incorporates actuator inertia and damping into the serial-coordinate dynamics through coordinate transformation, whereas S3N-Full restores residual linkage inertia by separately identifying actuator- and leg-level frequency responses. In the 2-DoF validation, S3N-Full reduced the joint-position and torque RMSEs by 80.9% and 82.1%, respectively, relative to the Jacobian-mapping baseline. During pitch-in-place motion, S3N-Act and S3N-Full reduced the RMSE of the ground reaction force norm by 65.1% and 62.4%, respectively. During circular locomotion, S3N-Full reduced the phase-averaged, command-normalized sim-to-real gap from 17.3% to 9.9%. These results show that simulator-side normalization improves motion- and force-level sim-to-real consistency. It enables policy training in a serial-tree framework with hardware-consistent dynamics that better represent the physical parallel-link mechanism.

cs.RO↗

arXiv2026

Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly

This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the observer nominal model, DW-DOB cleanly separates intrinsic dynamic reactions from true external wrenches. This preserves sensitivity to small forces and moments while ensuring robust regulation of contact wrenches. A passivity-based analysis further demonstrates that DW-DOB guarantees stable interactions under dynamic conditions, addressing the shortcomings of conventional observers that fail to compensate for inertial effects. Peg-in-hole experiments at industrial tolerances (H7/h6) validate the approach, yielding deeper and more compliant insertions with minimal residual wrenches and outperforming a conventional wrench disturbance observer and a PD baseline. These results highlight DW-DOB as a practical learning-free solution for high-precision zero-wrench control in contact-rich tasks.

cs.RO↗

arXiv2025

Frequency Response Data-Driven Disturbance Observer Design for Flexible Joint Robots

Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can enhance system robustness, their performance is often limited by the elasticity of the joints and the variations in system parameters, which leads to a conservative design of the DOB. This paper presents a novel frequency response function (FRF)-based optimization method aimed at improving DOB performance, even in the presence of flexibility and system variability. The proposed method maximizes control bandwidth and effectively suppresses vibrations, thus enhancing overall system performance. Closed-loop stability is rigorously proven using the Nyquist stability criterion. Experimental validation on a FJR demonstrates that the proposed approach significantly improves robustness and motion performance, even under conditions of joint flexibility and system variation.

cs.RO↗

arXiv2025

Precision Analysis of $\mathrm{^{12}C / ^{13}C}$ Ratios in Orion IRc2 Acetylene Isotopologues via $\chi^2$ Fitting

We present a detailed analysis of acetylene (C$_2$H$_2$) and its isotopologues in the Orion IRc2 region, focusing on the determination of $^{12}$C/$^{13}$C isotopic ratios using high-resolution infrared spectra from SOFIA. By employing a robust $\chi^2$ fitting method, we simultaneously determined temperature and column density, achieving a $^{12}$C/$^{13}$C ratio of $18.72^{+1.54}_{-1.46}$ for the blue clump and $15.07^{+1.61}_{-1.60}$ for the red clump. These results revealed significant discrepancies with the traditional rotational diagram method, which overestimated the ratios by 12.1% and 23.9%, respectively. Our $\chi^2$ approach also reduced uncertainties by up to 75%, providing more precise and reliable isotopic ratios. Additionally, we extended the analysis to isotopologues not covered in HITRAN, calculating vibrational and rotational constants through quantum chemical calculations. This allowed us to model subtle isotopic shifts induced by $^{13}$C and deuterium substitution, enabling accurate isotopologue detection in astrophysical environments. The Python package (TOPSEGI) developed in this study facilitates efficient $\chi^2$ fitting and isotopic ratio analysis, making it a valuable tool for future high-resolution observations. This work highlights the critical role of advanced spectral models and fitting techniques in understanding isotopic fractionation and the chemical evolution of interstellar matter.

astro-ph.GA↗

arXiv2024

Electronic structure of above-room-temperature van der Waals ferromagnet Fe$_3$GaTe$_2$

Fe$_3$GaTe$_2$, a recently discovered van der Waals ferromagnet, demonstrates intrinsic ferromagnetism above room temperature, necessitating a comprehensive investigation of the microscopic origins of its high Curie temperature ($\textit{T}$$_C$). In this study, we reveal the electronic structure of Fe$_3$GaTe$_2$ in its ferromagnetic ground state using angle-resolved photoemission spectroscopy and density functional theory calculations. Our results establish a consistent correspondence between the measured band structure and theoretical calculations, underscoring the significant contributions of the Heisenberg exchange interaction ($\textit{J}$$_{ex}$) and magnetic anisotropy energy to the development of the high-$\textit{T}$$_C$ ferromagnetic ordering in Fe$_3$GaTe$_2$. Intriguingly, we observe substantial modifications to these crucial driving factors through doping, which we attribute to alterations in multiple spin-splitting bands near the Fermi level. These findings provide valuable insights into the underlying electronic structure and its correlation with the emergence of high-$\textit{T}$$_C$ ferromagnetic ordering in Fe$_3$GaTe$_2$.

cond-mat.mtrl-sci↗

arXiv2023

Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the ability to handle tasks with varying geometry. To reduce the need for a priori models, we propose a framework for estimating contact models online based on torque and position measurements. To do this, compliant contact models are used, connected in parallel to model multi-point contact and constraints such as a hinge. They are parameterized to be differentiable with respect to all of their parameters (rest position, stiffness, contact location), allowing the coupled robot/environment dynamics to be linearized or efficiently used in gradient-based optimization. These models are then applied for: offline gradient-based parameter fitting, online estimation via an extended Kalman filter, and online gradient-based MPC. The proposed approach is validated on two robots, showing the efficacy of sensorless contact estimation and the effects of online estimation on MPC performance.

cs.RO↗

arXiv2022

Prediction of High Temperature Superconductivity in C2/c-24 Solid Hydrogen

Recent experimental developments in hydrogen-rich materials in high pressures have put this class of materials above others in the race toward room temperature superconductivity. As it is the basis of all the materials in this class, the efforts to determine the properties of pure solid hydrogen at high pressures remain intense. Most notably, a recent experimental study of the metallization of hydrogen identified the crystal phase of the solid as the C2/c-24 molecular phase up to ~425 GPa. It is possible that the observed metallization is caused by band structure effects and not a structural phase transition, and the material remains in this crystal phase up to higher pressures. Therefore it is of crucial importance to determine the superconducting properties of the C2/c-24 phase. Here, we employ a Wannier function-based dense k-point and q-point sampling to compute the electron-phonon coupling and superconducting properties of molecular hydrogen in the C2/c-24 phase. We find that the material has a high superconducting transition temperature of 242 K at 500 GPa. We also find that the transition temperature rapidly increases with pressure in the 400 - 500 GPa range.

cond-mat.supr-con↗

arXiv2021

High Temperature Superconductivity in the Candidate Phases of Solid Hydrogen

As the simplest element in nature, unraveling the phase diagram of hydrogen is a primary task for condensed matter physics. As conjectured many decades ago, in the low-temperature and high-pressure part of the phase diagram, solid hydrogen is expected to become metallic with a high superconducting transition temperature. The metallization may occur via band gap closure in the molecular solid or via a transition to the atomic solid. Recently, a few experimental studies pushed the achievable pressures into the 400 - 500 GPa range. There are strong indications that at some pressure in this range metallization via either of these mechanisms occurs, although there are disagreements between experimental reports. Furthermore, there are multiple good candidate crystal phases that have emerged from recent computational and experimental studies which may be realized in upcoming experiments. Therefore, it is crucial to determine the superconducting properties of these candidate phases. In a recent study, we reported the superconducting properties of the C2/c-24 phase, which we believe to be a strong candidate for metallization via band gap closure [M. Dogan et al., arXiv:2107.03889 (2021)]. Here, we report the superconducting properties of the Cmca-12, Cmca-4 and I41/amd-2 phases including the anharmonic effects using a Wannier function-based dense k-point and q-point sampling. We find that the Cmca-12 phase has a superconducting transition temperature that rises from 86 K at 400 GPa to 212 K at 500 GPa, whereas the Cmca-4 and I41/amd-2 phases show a less pressure-dependent behavior with their Tc in the 74 - 94 K and 307 - 343 K ranges, respectively. These properties can be used to distinguish between crystal phases in future experiments. Understanding superconductivity in pure hydrogen is also important in the study of high-Tc hydrides.

cond-mat.supr-con↗

arXiv2020

Ultra-Narrow TaS2 Nanoribbons

Imposing additional confinement in two-dimensional (2D) materials can yield further control over the associated electronic, optical, and topological properties. However, synthesis of ultra-narrow nanoribbons (NRs) remains a challenge, particularly for the transition metal dichalcogenides (TMDs), and synthesizing TMD NRs narrower than 50 nm has remained elusive. Here, we report the vapor-phase synthesis of ultra-narrow TaS2 NRs. The NRs are grown within the hollow cavity of carbon nanotubes, thereby limiting their lateral dimensions and layer number, while simultaneously stabilizing them against the environment. The NRs reach the monolayer (ML) limit and exhibit widths as low as 2.5 nm. Atomic-resolution scanning transmission electron microscopy (STEM) reveals the detailed atomic structure of the ultra-narrow NRs and we observe a hitherto unseen atomic structure supermodulation phenomenon of ordered defect arrays within the NRs. First-principles calculations based on density functional theory (DFT) show the presence of flat bands, as well as edge- and boundary-localized states, and help identify the atomic configuration of the supermodulation. Nanotube-templated synthesis represents a unique, transferable, and broadly deployable route toward ultra-narrow TMD NR growth.

cond-mat.mtrl-sci↗

arXiv2020

Stabilization of NbTe3, VTe3, and TiTe3 via Nanotube Encapsulation

The structure of MX3 transition metal trichalcogenides (TMTs, with M a transition metal and X a chalcogen) is typified by one-dimensional (1D) chains weakly bound together via van der Waals interactions. This structural motif is common across a range of M and X atoms (e.g. NbSe3, HfTe3, TaS3), but not all M and X combinations are stable. We report here that three new members of the MX3 family which are not stable in bulk, specifically NbTe3, VTe3, and TiTe3, can be synthesized in the few- to single-chain limit via nano-confined growth within the stabilizing cavity of multi-walled carbon nanotubes. Transmission electron microscopy (TEM) and atomic-resolution scanning transmission electron microscopy (STEM) reveal the chain-like nature and the detailed atomic structure. The synthesized materials exhibit behavior unique to few-chain quasi-1D structures, such as multi-chain spiraling and a trigonal anti-prismatic rocking distortion in the single-chain limit. Density functional theory (DFT) calculations provide insight into the crystal structure and stability of the materials, as well as their electronic structure.

cond-mat.mtrl-sci↗

arXiv2020

Observed Metallization of Hydrogen Interpreted as a Band Structure Effect

A recent experimental study of the metallization of hydrogen tracked the direct band gap and vibron frequency via infrared measurements up to ~425 GPa [P. Loubeyre et al., Nature 577, 631 (2020)]. Above this pressure, the direct gap has a discontinuous drop to below the minimum experimentally accessible energy (~0.1 eV). The authors suggested that this observation is caused by a structural phase transition between the C2/c-24 molecular phase to another molecular phase such as Cmca-12. Here, through ab initio calculations of pressure dependent vibron frequency and direct band gap, we find that the experimental data is consistent with the C2/c-24 phase up to 425 GPa, and suggest that this consistency extends beyond that pressure. Specifically, we find that qualitative changes in the band structure of the C2/c-24 phase lead to a discontinuous drop of the direct band gap, which can explain the observed drop without a structural transition. This alternative scenario naturally explains the absence of hysteresis in the measurements.

cond-mat.mtrl-sci↗

arXiv2020

Emergence of Topologically Non-trivial Spin-polarized States in a Segmented Linear Chain

The synthesis of new materials with novel or useful properties is one of the most important drivers in the fields of condensed matter physics and materials science. Discoveries of this kind are especially significant when they point to promising future basic research and applications. Van der Waals bonded materials comprised of lower-dimensional building blocks have been shown to exhibit emergent properties when isolated in an atomically thin form1-8. Here, we report the discovery of a transition metal chalcogenide in a heretofore unknown segmented linear chain form, where basic building blocks each consisting of two hafnium atoms and nine tellurium atoms (Hf2Te9) are van der Waals bonded end-to-end. First-principle calculations based on density functional theory reveal striking crystal-symmetry-related features in the electronic structure of the segmented chain, including giant spin splitting and nontrivial topological phases of selected energy band states. Atomic-resolution scanning transmission electron microscopy reveals single segmented Hf2Te9 chains isolated within the hollow cores of carbon nanotubes, with a structure consistent with theoretical predictions. Van der Waals-bonded segmented linear chain transition metal chalcogenide materials could open up new opportunities in low-dimensional, gate-tunable, magnetic and topological crystalline systems.

cond-mat.mtrl-sci↗

arXiv2019

Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control

An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy, but their impact on safe impedance range is not established. However, to define a safe impedance range requires a practical coupled stability condition. Here, passivity-based conditions are proposed for two variants of DOB torque control, and validated experimentally in a high-stiffness environment. While high-gain PD torque control has been shown to reduce Z-width, it is here shown that a DOB reduces the need for high-gain PD feedback and allows a higher rendered impedance. A dynamic feedforward compensator is proposed which increases the maximum safe impedance of the DOB, validated in experimentally in collision with high-stiffness environments and manual excitation.

cs.RO↗

arXiv2019

Stability, efficiency, and mechanism of n-type doping by hydrogen adatoms in two-dimensional transition metal dichalcogenides

Mono- and few-layer transition-metal dichalcogenides (TMDCs) provide opportunities for ideal two-dimensional semiconductors for electronic and optoelectronic devices. For electronic devices on TMDCs, it is essential to incorporate n- and/or p-type dopants which are stable in positions after patterned doping. Here we investigate hydrogen doping for TMDC (MX2 with M = Mo, W and X = S, Se, Te) nanosheets by first-principles calculations to address diffusion and doping properties. We find that adsorbed hydrogen atoms in TMDCs are energetically most stable at the interstitial site right on the Mo or W plane and have substantial energy barriers against diffusion that increase in the order of sulfides, selenides, and tellurides. Located at the most stable interstitial site on the Mo or W plane, the hydrogen atoms produce electrons in the conduction bands in the extremely high rate of one electron per hydrogen atom, without any defect state inside the band gap remarkably. We analyze the chemical bonding character around the dopant and the mechanism for such high efficiency of electron doping. We also consider properties of hydrogen molecules and Te vacancies for comparison. Our work shows that hydrogen doping is the promising pathway to development of highly integrated electronic devices on TMDCs

cond-mat.mtrl-sci↗

arXiv2019

Metal-insulator transition in quasi-one-dimensional HfTe3 in the few-chain limit

The quasi-one-dimensional linear chain compound HfTe3 is experimentally and theoretically explored in the few- to single-chain limit. Confining the material within the hollow core of carbon nanotubes allows isolation of the chains and prevents the rapid oxidation which plagues even bulk HfTe3. High-resolution transmission electron microscopy combined with density functional theory calculations reveals that, once the triple-chain limit is reached, the normally parallel chains spiral about each other, and simultaneously a short-wavelength trigonal anti-prismatic rocking distortion occurs that opens a significant energy gap. This results in a size-driven metal-insulator transition.

cond-mat.mtrl-sci↗

arXiv2019

Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer

This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force measurement of the SEA caused by nonlinearities of the elastic transmission and measurement noise and error of its deformation sensor. This paper first analyzes the limitation of the conventional methods for the SEA transmission force sensing and then investigates its stochastic characteristics, which indeed provide the base to render the accurate force control performance incorporated with the TFOB. In particular, a tuning parameter is introduced from holistic closed-loop system analyses in the frequency domain. This gives a guideline to attain optimum performance of the force-controlled SEA system. The proposed algorithm is experimentally verified in an actual SEA hardware setup.

cs.RO↗

arXiv2019

Performance Analysis of Series Elastic Actuator based on Maximum Torque Transmissibility

The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area. Nevertheless, there are still limitations in its performance; the elastic spring that is adopted to provide compliance is considered to limit the actuator performance thus lowering the frequency bandwidth of force/torque generation, and the bandwidth decreases even more when it is supposed to provide large torque. This weakness is in turn owing to the limitations of motor and motor drives such as torque and velocity limits. In this paper, mathematical tools to analyze the impact of these limitations on the performance of SEA as a transmission system are provided. A novel criterion called Maximum Torque Transmissibility (MTT)is defined to assess the ability of SEA to fully utilize maximum continuous motor torque. Moreover, an original frequency bandwidth concept, maximum torque frequency bandwidth, which can indicate the maximum frequency up to which the SEA can generate the maximum torque, is proposed based on the proposed MTT. The proposed MTT can be utilized as a unique criterion of the performance, and thus various design parameters including the load condition, mechanical design parameters, and controller parameters of a SEA can be evaluated with its use. Experimental results under various conditions verify that MTT can precisely indicate the limitation of the performance of SEA, and that it can be utilized to accurately analyze the limitation of the controller of SEA.

cs.RO↗

arXiv2018

Alternative Stacking Sequences in Hexagonal Boron Nitride

The relative orientation of successive sheets, i.e. the stacking sequence, in layered two-dimensional materials is central to the electronic, thermal, and mechanical properties of the material. Often different stacking sequences have comparable cohesive energy, leading to alternative stable crystal structures. Here we theoretically and experimentally explore different stacking sequences in the van der Waals bonded material hexagonal boron nitride (h-BN). We examine the total energy, electronic bandgap, and dielectric response tensor for five distinct high symmetry stacking sequences for both bulk and bilayer forms of h-BN. Two sequences, the generally assumed AA' sequence and the relatively unknown (for h-BN) AB (Bernal) sequence, are predicted to have comparably low energy. We present a scalable modified chemical vapor deposition method that produces large flakes of virtually pure AB stacked h-BN; this new material complements the generally available AA' stacked h-BN.

cond-mat.mtrl-sci↗