arXiv subjects

Yunlong Lian

Publications and source records attributed to Yunlong Lian.

5 recordsLinked to original sources

arXiv2025

Bimanual Robot-Assisted Dressing: A Spherical Coordinate-Based Strategy for Tight-Fitting Garments

Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on robot-assisted dressing focuses on how to put on loose-fitting clothing, with little attention paid to tight garments. For the former, since the armscye is larger, a single robotic arm can usually complete the dressing task successfully. However, for the latter, dressing with a single robotic arm often fails due to the narrower armscye and the property of diminishing rigidity in the armscye, which eventually causes the armscye to get stuck. This paper proposes a bimanual dressing strategy suitable for dressing tight-fitting clothing. To facilitate the encoding of dressing trajectories that adapt to different human arm postures, a spherical coordinate system for dressing is established. We uses the azimuthal angle of the spherical coordinate system as a task-relevant feature for bimanual manipulation. Based on this new coordinate, we employ Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR) for imitation learning of bimanual dressing trajectories, generating dressing strategies that adapt to different human arm postures. The effectiveness of the proposed method is validated through various experiments.

cs.RO↗

arXiv2024

Improvement of Frequency Source Phase Noise Reduction Design under Vibration Condition

Reasonable vibration reduction design is an important way to achieve low phase noise index of airborne frequency source output signal. Aiming at the problem of phase noise deterioration of an airborne frequency source under random condition, this paper proposes to improve the vibration reduction mode crystal oscillator and reduce the distance between the barycenter of frequency source and crystal oscillator vibration based on the analysis of the relationship between the frequency source and the phase noise of output signal. Experimental results show that the active noise control system achieves 62dB phase noise compensation under the random vibration of 0.04-0.1g*g/Hz amplitude range and 5-2000 Hz frequency range.

eess.SY↗

arXiv2020

Skyrmion zoo in graphene at charge neutrality in a strong magnetic field

As a consequence of the approximate spin-valley symmetry in graphene, the ground state of electrons in graphene at charge neutrality is a particular SU(4) quantum-Hall ferromagnet to minimize their exchange energy. If only the Coulomb interaction is taken into account, this ferromagnet can appeal either to the spin degree of freedom or equivalently to the valley pseudo-spin degree of freedom. This freedom in choice is then limited by subleading energy scales that explicitly break the SU(4) symmetry, the simplest of which is given by the Zeeman effect that orients the spin in the direction of the magnetic field. In addition, there are also valley symmetry breaking terms that can arise from short-range interactions or electron-phonon couplings. Here, we build upon the phase diagram, which has been obtained by Kharitonov [Phys. Rev. B \textbf{85}, 155439 (2012)], in order to identify the different skyrmions that are compatible with these types of quantum-Hall ferromagnets. Similarly to the ferromagnets, the skyrmions at charge neutrality are described by the $\text{Gr}(2,4)$ Grassmannian at the center, which allows us to construct the skyrmion spinors. The different skyrmion types are then obtained by minimizing their energy within a variational approach, with respect to the remaining free parameters that are not fixed by the requirement that the skyrmion at large distances from their center must be compatible with the ferromagnetic background. We show that the different skyrmion types have a clear signature in the local, sublattice-resolved, spin magnetization, which is in principle accessible in scanning-tunneling microscopy and spectroscopy.

cond-mat.mes-hall↗

arXiv2017

Spin-valley skyrmions in graphene at filling factor $ν=-1$

We model quantum Hall skyrmions in graphene monolayer at quarter filling by a theory of CP3 fields and study the energy minimizing skyrmions in presence of valley pseudospin anisotropy and Zeeman coupling. We present a diagram of all types of skyrmions in a wide range of the anisotropy parameters. For each type of skyrmion, we visualize it on three Bloch spheres, and present the profiles of its texture on the graphene honeycomb lattice, thus providing references for the STM/STS imaging of spin-pseudospin textures in graphene monolayer in quantum Hall regime. Besides the spin and pseudospin skyrmions for the corresponding degrees of freedom of an electron in the N=0 Landau level, we discuss two unusual types -- the "entanglement skyrmion" whose texture lies in the space of the entanglement of spin and pseudospin, as well as the "deflated pseudospin skyrmion" with partial entanglement. For all skyrmion types, we study the dependence of the energy and the size of a skyrmion on the anisotropy parameters and perpendicular magnetic field. We also propose three ways to modify the anisotropy energy, namely the sample tilting, the substrate anisotropy and the valley pseudospin analogue of Zeeman coupling.

cond-mat.str-el↗

arXiv2016

SU(4) Skyrmions in the $ν=\pm 1$ Quantum Hall State of Graphene

We explore different skyrmion types in the lowest Landau level of graphene at a filling factor $ν=\pm 1$. In addition to the formation of spin and valley pseudospin skyrmions, we show that another type of spin-valley entangled skyrmions can be stabilized in graphene due to an approximate SU(4) spin-valley symmetry that is affected by sublattice symmetry-breaking terms. These skyrmions have a clear signature in spin-resolved density measurements on the lattice scale, and we discuss the expected patterns for the different skyrmion types.

cond-mat.mes-hall↗