Many-body effects in nonlinear optical responses of 2D layered semiconductors

We performed ultrafast degenerate pump-probe spectroscopy on monolayer WSe2 near its exciton resonance. The observed differential reflectance signals exhibit signatures of strong many-body interactions including the exciton-exciton interaction and free carrier induced band gap renormalization. The exciton-exciton interaction results in a resonance blue shift which lasts for the exciton lifetime (several ps), while the band gap renormalization manifests as a resonance red shift with several tens ps lifetime. Our model based on the many-body interactions for the nonlinear optical susceptibility fits well the experimental observations. The power dependence of the spectra shows that with the increase of pump power, the exciton population increases linearly and then saturates, while the free carrier density increases superlinearly, implying that exciton Auger recombination could be the origin of these free carriers. Our model demonstrates a simple but efficient method for quantitatively analyzing the spectra, and indicates the important role of Coulomb interactions in nonlinear optical responses of such 2D materials

Comparison of DDS, MQTT, and Zenoh in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems

The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and reliable networking middleware. In robotics and autonomous systems, the wide application of ROS\,2 brings the possibility of utilizing various networking middlewares together with DDS in ROS\,2 for better communication among edge devices or between edge devices and the cloud. However, there is a lack of comprehensive communication performance comparison of integrating these networking middlewares with ROS\,2. In this study, we provide a quantitative analysis for the communication performance of utilized networking middlewares including MQTT and Zenoh alongside DDS in ROS\,2 among a multiple host system. For a complete and reliable comparison, we calculate the latency and throughput of these middlewares by sending distinct amounts and types of data through different network setups including Ethernet, Wi-Fi, and 4G. To further extend the evaluation to real-world application scenarios, we assess the drift error (the position changes) over time caused by these networking middlewares with the robot moving in an identical square-shaped path. Our results show that CycloneDDS performs better under Ethernet while Zenoh performs better under Wi-Fi and 4G. In the actual robot test, the robot moving trajectory drift error over time (96\,s) via Zenoh is the smallest. It is worth noting we have a discussion of the CPU utilization of these networking middlewares and the performance impact caused by enabling the security feature in ROS\,2 at the end of the paper.Comment: 19 pages, 8 figures. Submitted to the Journal of Intelligent & Robotic Systems. Under revie

Electrical Control of Two-Dimensional Neutral and Charged Excitons in a Monolayer Semiconductor

Monolayer group VI transition metal dichalcogenides have recently emerged as semiconducting alternatives to graphene in which the true two-dimensionality (2D) is expected to illuminate new semiconducting physics. Here we investigate excitons and trions (their singly charged counterparts) which have thus far been challenging to generate and control in the ultimate 2D limit. Utilizing high quality monolayer molybdenum diselenide (MoSe2), we report the unambiguous observation and electrostatic tunability of charging effects in positively charged (X+), neutral (Xo), and negatively charged (X-) excitons in field effect transistors via photoluminescence. The trion charging energy is large (30 meV), enhanced by strong confinement and heavy effective masses, while the linewidth is narrow (5 meV) at temperatures below 55 K. This is greater spectral contrast than in any known quasi-2D system. We also find the charging energies for X+ and X- to be nearly identical implying the same effective mass for electrons and holes.Comment: 11 pages main text with 4 figures + 7 pages supplemental material

Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems deployed from edge to cloud. This paper reviews new architectures and technologies that enable containerized robotic applications to seamlessly run at the edge or in the cloud. We also overview systems that include solutions from extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2. Another important trend is robot learning, and how new simulators and cloud simulations are enabling, e.g., large-scale reinforcement learning or distributed federated learning solutions. This has also enabled deeper integration of continuous interaction and continuous deployment (CI/CD) pipelines for robotic systems development, going beyond standard software unit tests with simulated tests to build and validate code automatically. We discuss the current technology readiness and list the potential new application scenarios that are becoming available. Finally, we discuss the current challenges in distributed robotic systems and list open research questions in the field

Co 3

Co3O4 nanoparticles were prepared from cobalt nitrate that was accommodated in the pores of a metal-organic framework (MOF) ZIF-8 (Zn(MeIM)2, MeIM = 2-methylimidazole) by using a simple liquid-phase method. Analysis by scanning electron microscopy (SEM) and transmission electron microscopy (TEM) showed that the obtained Co3O4 was composed of separate nanoparticles with a mean size of 30 nm. The obtained Co3O4 nanoparticles exhibited superior electrochemical property. Co3O4 electrode exhibited a maximum specific capacitance of 189.1 F g−1 at the specific current of 0.2 A g−1. Meanwhile, the Co3O4 electrode possessed the high specific capacitance retention ratio at the current density ranging from 0.2 to 1.0 A g−1, thereby indicating that Co3O4 electrode suited high-rate charge/discharge

Population pulsation resonances of excitons in monolayer MoSe2 with sub 1 {\mu}eV linewidth

Monolayer transition metal dichalcogenides, a new class of atomically thin semiconductors, possess optically coupled 2D valley excitons. The nature of exciton relaxation in these systems is currently poorly understood. Here, we investigate exciton relaxation in monolayer MoSe2 using polarization-resolved coherent nonlinear optical spectroscopy with high spectral resolution. We report strikingly narrow population pulsation resonances with two different characteristic linewidths of 1 {\mu}eV and <0.2 {\mu}eV at low-temperature. These linewidths are more than three orders of magnitude narrower than the photoluminescence and absorption linewidth, and indicate that a component of the exciton relaxation dynamics occurs on timescales longer than 1 ns. The ultra-narrow resonance (<0.2 {\mu}eV) emerges with increasing excitation intensity, and implies the existence of a long-lived state whose lifetime exceeds 6 ns.Comment: (PRL, in press