4D STEM: high efficiency phase contrast imaging using a fast pixelated detector

Phase contrast imaging is widely used for imaging beam sensitive and weak phase objects in electron microscopy. In this work we demonstrate the achievement of high efficient phase contrast imaging in STEM using the pnCCD, a fast direct electron pixelated detector, which records the diffraction patterns at every probe position with a speed of 1000 to 4000 frames per second, forming a 4D STEM dataset simultaneously with the incoherent Z-contrast imaging. Ptychographic phase reconstruction has been applied and the obtained complex transmission function reveals the phase of the specimen. The results using GaN and Ti, Nd- doped BiFeO3 show that this imaging mode is especially powerful for imaging light elements in the presence of much heavier elements

X-ray magnetic linear dichroism as a probe for non-collinear magnetic state in ferrimagnetic single layer exchange bias systems

Ferrimagnetic alloys are extensively studied for their unique magnetic properties leading to possible applications in perpendicular magnetic recording, due to their deterministic ultrafast switching and heat assisted magnetic recording capabilities. On a prototype ferrimagnetic alloy we demonstrate fascinating properties that occur close to a critical temperature where the magnetization is vanishing, just as in an antiferromagnet. From the X-ray magnetic circular dichroism measurements, an anomalous 'wing shape' hysteresis loop is observed slightly above the compensation temperature. This bears the characteristics of an intrinsic exchange bias effect, referred to as atomic exchange bias. We further exploit the X-ray magnetic linear dichroism (XMLD) contrast for probing non-collinear states which allows us to discriminate between two main reversal mechanisms, namely perpendicular domain wall formation versus spin-flop transition. Ultimately, we analyze the elemental magnetic moments for the surface and the bulk parts, separately, which allows to identify in the phase diagram the temperature window where this effect takes place. Moreover, we suggests that this effect is a general phenomenon in ferrimagnetic thin films which may also contribue to the understanding of the mechanism behind the all optical switching effect.Comment: 20 pages, 9 figure

Modeling and control of UAV bearing formations with bilateral high-level steering

In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered. © The Author(s) 2012

Luttinger-Liquid Behavior in the Alternating Spin-Chain System Copper Nitrate

We determine the phase diagram of copper nitrate Cu(NO$_3$)$_2\cdot$2.5D$_2$O in the context of quantum phase transitions and novel states of matter. We establish this compound as an ideal candidate to study quasi-1D Luttinger liquids, 3D Bose-Einstein-Condensation of triplons, and the crossover between 1D and 3D physics. Magnetocaloric effect, magnetization, and neutron scattering data provide clear evidence for transitions into a Luttinger liquid regime and a 3D long-range ordered phase as function of field and temperature. Theoretical simulations of this model material allow us to fully establish the phase diagram and to discuss it in the context of dimerized spin systems.Comment: 5 pages, 4 figure

Mutual induction of magnetic 3d and 4f order in multiferroic hexagonal ErMnO3

The complex interplay between the 3d and 4f moments in hexagonal ErMnO3 is investigated by magnetization, optical second harmonic generation, and neutron-diffraction measurements. We revise the phase diagram and provide a microscopic model for the emergent spin structures with a special focus on the intermediary phase transitions. Our measurements reveal that the 3d exchange between Mn^{3+} ions dominates the magnetic symmetry at 10 K < T < T_N with Mn^3+ order according to the Gamma_4 representation triggering 4f ordering according to the same representation on the Er^{3+}(4b) site. Below 10 K the magnetic order is governed by 4f exchange interactions of Er^{3+} ions on the 2a site. The magnetic Er^{3+}(2a) order according to the representation Gamma_2 induces a magnetic reorientation (Gamma_4 --> Gamma_2) at the Er^{3+}(4b) and the Mn^{3+} sites. Our findings highlight the fundamentally different roles the Mn^{3+}, R^{3+}(2a), and R^{3+}(4b) magnetism play in establishing the magnetic phase diagram of the hexagonal RMnO3 system

Magnetic Hamiltonian and phase diagram of the quantum spin liquid Ca10Cr7O28

A spin liquid is a new state of matter with topological order where the spin moments continue to fluctuate coherently down to the lowest temperatures rather than develop static long range magnetic order as found in conventional magnets. For spin liquid behavior to arise in a material the magnetic Hamiltonian must be frustrated , where the combination of lattice geometry, interactions, and anisotropies gives rise to competing spin arrangements in the ground state. Theoretical Hamiltonians which produce spin liquids are spin ice, the Kitaev honeycomb model, and the kagome antiferromagnet. Spin liquid behavior, however, in real materials is rare because they can only approximate these Hamiltonians and often have weak higher order terms that destroy the spin liquid state. Ca10Cr7O28 is a new quantum spin liquid candidate with magnetic Cr5 ions that possess quantum spin number S . The spins are entirely dynamic in the ground state and the excitation spectrum is broad and diffuse, as is typical of spinons which are the excitations of a spin liquid. In this paper we determine the Hamiltonian of Ca10Cr7O28 using inelastic neutron scattering under high magnetic field to induce a field polarized paramagnetic ground state and spin wave excitations that can be fitted to extract the interactions. We further explore the phase diagram by using inelastic neutron scattering and heat capacity measurements and establish the boundaries of the spin liquid phase as a function of magnetic field and temperature. Our results show that Ca10Cr7O28 consists of distorted kagome bilayers with several isotropic ferromagnetic and antiferromagnetic interactions where, unexpectedly, the ferromagnetic interactions are stronger than the antiferromagnetic ones. This complex Hamiltonian does not correspond to any known spin liquid model and points to new directions in the search for quantum spin liquid behavio

Hillock formation of Pt thin films on Yttria stabilized Zirconia single crystals

The stability of a metal thin films on a dielectric substrate is conditioned by the magnitude of the interactive forces at the interface. In the case of a non-reactive interface and weak adhesion, the minimization of free surface energy gives rise to an instability of the thin film. In order to study these effects, Pt thin films with a thickness of 50 nm were deposited via ion-beam sputtering on yttria stabilized zirconia single crystals. All Pt films were subjected to heat treatments up to 973 K for 2 h. The morphological evolution of Pt thin films has been investigated by means of scanning electron microscopy (SEM), atomic force microscopy (AFM) and standard image analysis techniques. Three main observations have been made: i) the deposition method has a direct impact on the morphological evolution of the film during annealing. Instead of hole formation, that is typically observed as response to a thermal treatment, anisotropic pyramidal shaped hillocks are formed on top of the film. ii) It is shown by comparing the hillocks' aspect ratio with finite element method (FEM) simulations that the hillock formation can be assigned to a stress relaxation process inside the thin film. iii) By measuring the equilibrium shapes and the shape fluctuations of the formed Pt hillocks the anisotropy of the step free energy and its stiffness have been derived in addition to the anisotropic kink energy of the hillock's edges.Comment: 8 pages, 7 figure

An Open-Source Hardware/Software Architecture for Quadrotor UAVs

International audienceIn this paper, we illustrate an open-source ready-to-use hardware/software archi- tecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture