arXiv subjects

Zhengtao Liu

Publications and source records attributed to Zhengtao Liu.

7 recordsLinked to original sources

arXiv2025

Theoretical study on the electronic properties and multiorbital models of La$_3$Ni$_2$O$_7$ thin films on SrLaAlO$_4$ (001)

The realization of ambient-pressure superconductivity in La$_3$Ni$_2$O$_7$ thin films raises a fundamental question: is the metallic ground state driven by lattice strain or interfacial charge reconstruction? Using fully self-consistent DFT+$U$ calculations on La$_3$Ni$_2$O$_7$/SrLaAlO$_4$ heterostructures, we identify that intrinsic hole doping via interfacial Sr interdiffusion is the decisive factor in stabilizing the metallic state. Our 1-unit-cell model accurately reproduces the ARPES-observed Fermi surface, particularly the critical Ni-$d_{z^2}$ derived $γ$ hole pocket, which originates exclusively from the interface-proximal bilayer. Furthermore, comparative tight-binding analysis suggests that the reduced superconducting transition temperature ($T_c$) in thin films stems from the synergistic suppression of the electronic density of states (DOS) and vertical superexchange coupling ($J \perp Z$). These findings highlight that interface engineering plays a critical role beyond simple strain imposition in modulating nickelate orbital physics.

cond-mat.supr-con↗

arXiv2025

Mechanisms driving robust high-temperature superconductivity in complex metal hydrides under moderate pressure

The discovery of near-room-temperature superconductivity in compressed hydrides has sparked intensive research efforts to identify superconducting hydrides stable at low or even ambient pressures. Herein, we demonstrate a new mechanism for achieving robust superconductivity in complex metal hydrides under moderate pressure, using Li3IrH9 as a paradigmatic example. This compound displays unique electronic structural characteristics where the broadening and overlap between antibonding electronic bands of [IrH8]2- and adjacent H- orbitals not only drive the intrinsic metallicity of the hydrogen sublattice, generating hydrogen-dominated electronic states at the Fermi level, but also soften hydrogen-related optical phonon modes, inducing strong electron-phonon coupling that remains robust even under high-pressures. First-principles calculations predict that Li3IrH9 maintains thermodynamic stability at 100 GPa while exhibiting a consistently high Tc exceeding 100 K across a broad pressure range (8-150 GPa). Through high-throughput computational screening, we have identified a new superconducting family based on this structural prototype, including Li3RhH9 (Tc = 124 K at 20 GPa) and Li3CoH9 (Tc = 80 K at 10 GPa). This work provides a new platform and original theoretical insights for the development of complex metal hydride superconductors that exhibit robust high-temperature superconductivity and promising practical applications.

cond-mat.supr-con↗

arXiv2024

Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules

This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work in various challenging terrains. SWhegPro, with six S-shaped legs, enables transporting loads in challenging uneven outdoor terrains. SWhegPro3, featuring four three-impeller wheels, has surprising stair-climbing performance in indoor scenarios. Different from ordinary gear-driven transformable mechanisms, the modular wheels we designed driven by self-locking electric push rods can switch modes accurately and stably with high loads, significantly improving the load capacity of the robot in leg mode. This study analyzes the robot's wheel-leg module operation when the terrain parameters change. Through the derivation of mathematical models and calculations based on simplified kinematic models, a method for optimizing the robot parameters and wheel-leg structure parameters is finally proposed.The design and control strategy are then verified through simulations and field experiments in various complex terrains, and the working performance of the two field transportation robots is calculated and analyzed by recording sensor data and proposing evaluation methods.

cs.RO↗

arXiv2024

Modulation of the Octahedral Structure and Potential Superconductivity of La$_3$Ni$_2$O$_7$ through Strain Engineering

The recent transport measurement of La$_3$Ni$_2$O$_7$ uncover a "right-triangle" shape of the superconducting dome in the pressure-temperature (P-T) phase diagram. Motivated by this, we perform theoretical first-principles studies of La$_3$Ni$_2$O$_7$ with the pressure ranging from 0 to 100 GPa. Notably, we reveal a pressure dependence of the Ni-$d_{z^2}$ electron density at the Fermi energy ($n_z^{EF}$) that highly coincides with such shape. On this basis, we further explore the electronic structure under uniaxial stress. By tracking the stress response of $n_z^{EF}$, we propose that superconductivity can be achieved by applying only about 2 GPa of compression along the c axis. The idea is further exemplified from the perspectives of lattice distortion, band structure, Fermi surface and superconducting phase coherence. We also discuss the possible charge modulation under the stress and provide an insight to the relation between n_z^EF and the superconducting Tc in La$_3$Ni$_2$O$_7$ system. Our study provides a helpful guide to the future experiment.

cond-mat.supr-con↗

arXiv2024

CARLA-Loc: Synthetic SLAM Dataset with Full-stack Sensor Setup in Challenging Weather and Dynamic Environments

The robustness of SLAM (Simultaneous Localization and Mapping) algorithms under challenging environmental conditions is critical for the success of autonomous driving. However, the real-world impact of such conditions remains largely unexplored due to the difficulty of altering environmental parameters in a controlled manner. To address this, we introduce CARLA-Loc, a synthetic dataset designed for challenging and dynamic environments, created using the CARLA simulator. Our dataset integrates a variety of sensors, including cameras, event cameras, LiDAR, radar, and IMU, etc. with tuned parameters and modifications to ensure the realism of the generated data. CARLA-Loc comprises 7 maps and 42 sequences, each varying in dynamics and weather conditions. Additionally, a pipeline script is provided that allows users to generate custom sequences conveniently. We evaluated 5 visual-based and 4 LiDAR-based SLAM algorithms across different sequences, analyzing how various challenging environmental factors influence localization accuracy. Our findings demonstrate the utility of the CARLA-Loc dataset in validating the efficacy of SLAM algorithms under diverse conditions.

cs.RO↗

arXiv2023

High temperature superconductivity of quaternary hydrides XM3Be4H32 (X, M = Ca, Sr, Ba, Y, La, Ac, Th) under moderate pressure

The compressed hydrogen-rich compounds have received extensive attention as promising candidates for room temperature superconductivity, however, the high pressure required to stabilize such materials hinders their wide practical application. In order to search for potential superconducting hydrides that are stable at low pressures, we have investigated the crystal structures and properties of quaternary hydrides, XM3Be4H32 (X, M = Ca, Sr, Ba, Y, La, Ac, Th) based on the first-principles calculations. We identified nine dynamically stable compounds at moderate pressure of 20 GPa. Strikingly, their superconducting transition temperatures are much higher than that of liquid nitrogen, especially CaTh3Be4H32 (124 K at 5 GPa), ThLa3Be4H32(134 K at 10 GPa), LaAc3Be4H32 (135 K at 20 GPa) and AcLa3Be4H32 (153 K at 20 GPa) exhibit outstanding superconductivity at mild pressures. Metal atoms acting as pre-compressors donate abundant electrons to hydrogen, weakening the H-H covalent bond and thus facilitating the metallization of the hydrogen sublattice. At the same time, the appropriate combination of metal elements with different ionic radius and electronegativity can effectively tune the electronic structure near the Fermi level and improve the superconductivity. These findings fully reveal the great promise of hosting high-temperature superconductivity of quaternary hydrides at moderate pressures and will further promote related exploration.

cond-mat.supr-con↗

arXiv2022

SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization

This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SWheg takes advantage of both wheeled and legged locomotion by seamlessly integrating them on a single platform. In contrast to other designs that use multiple actuators, SWheg uses only one actuator to drive the transformation of all the wheel-leg modules in sync. This means an N-legged SWheg robot requires only N+1 actuators, which can significantly reduce the cost and malfunction rate of the platform. The tendon-driven wheel-leg transformation mechanism based on a four-bar linkage can perform fast morphology transitions between wheels and legs. We validated the design principle with two SWheg robots with four and six wheel-leg modules separately, namely Quadrupedal SWheg and Hexapod SWheg. The design process, mechatronics infrastructure, and the gait behavioral development of both platforms were discussed. The performance of the robot was evaluated in various scenarios, including driving and turning in wheeled mode, step crossing, irregular terrain passing, and stair climbing in legged mode. The comparison between these two platforms was also discussed.

cs.RO↗