A Hyper-network Based End-to-end Visual Servoing with Arbitrary Desired Poses

Recently, several works achieve end-to-end visual servoing (VS) for robotic manipulation by replacing traditional controller with differentiable neural networks, but lose the ability to servo arbitrary desired poses. This letter proposes a differentiable architecture for arbitrary pose servoing: a hyper-network based neural controller (HPN-NC). To achieve this, HPN-NC consists of a hyper net and a low-level controller, where the hyper net learns to generate the parameters of the low-level controller and the controller uses the 2D keypoints error for control like traditional image-based visual servoing (IBVS). HPN-NC can complete 6 degree of freedom visual servoing with large initial offset. Taking advantage of the fully differentiable nature of HPN-NC, we provide a three-stage training procedure to servo real world objects. With self-supervised end-to-end training, the performance of the integrated model can be further improved in unseen scenes and the amount of manual annotations can be significantly reduced

Surface plasmon polaritons assisted diffraction in periodic subwavelength holes of metal films with reduced interplane coupling

Metal films grown on Si wafer perforated with a periodic array of subwavelength holes have been fabricated and anomalous enhanced transmission in the mid-infrared regime has been observed. High order transmission peaks up to Si(2,2) are clearly revealed due to the large dielectric constant contrast of the dielectrics at the opposite interfaces. Si(1,1) peak splits at oblique incidence both in TE and TM polarization, which confirms that anomalous enhanced transmission is a surface plasmon polaritons (SPPs) assisted diffraction phenomenon. Theoretical transmission spectra agree excellently with the experimental results and confirm the role of SPPs diffraction by the lattice.Comment: 4 pages, 5 figures, 26 reference

Fabrication of Spin-Transfer Nano-Oscillator by Colloidal Lithography

We fabricate nanoscale spin-transfer oscillators (STOs) by utilizing colloidal nanoparticles as a lithographic mask. By this approach, high quality STO devices can be fabricated, and as an example the fabricated STO devices using MgO magnetic tunnel junction as the basic cell exhibit current-induced microwave emission with a large frequency tunability of 0.22 GHz/mA. Compared to the conventional approaches that involve a step of defining nanoscale elements by means of electron beam lithography, which is not readily available for many groups, our strategy for STO fabrication does not require the sophisticated equipment (~ million dollars per unit) and expensive lithography resist, while being cost-effective and easy to use in laboratory level. This will accelerate efforts to implement STO into on-chip integrated high-radio frequency applications

Depositing Molecular Graphene Nanoribbons on Ag(111) by Electrospray Controlled Ion Beam Deposition: Self-Assembly and On-Surface Transformations

The chemical processing of low-dimensional carbon nanostructures is crucial for their integration in future devices. Here we apply a new methodology in atomically precise engineering by combining multistep solution synthesis of N-doped molecular graphene nanoribbons (GNRs) with mass-selected ultra-high vacuum electrospray controlled ion beam deposition on surfaces and real-space visualisation by scanning tunnelling microscopy. We demonstrate how this method yields solely a controllable amount of single, otherwise unsublimable, GNRs of 2.9 nm length on a planar Ag(111) surface. This methodology allows for further processing by employing on-surface synthesis protocols and exploiting the reactivity of the substrate. Following multiple chemical transformations, the GNRs provide reactive building blocks to form extended, metal-organic coordination polymers.This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreements No. 946223 and No. 899895. Financial support was provided by the German Research Foundation (DFG) through the TUM International Graduate School of Science and Engineering (IGSSE), Excellence Cluster e-conversion, and the priority programme 1928 COORNETs, the China Scholarship Council (CSC) and the European Research Council (ERC) (no. 722951). This project has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (Grant Agreement No. 722951). This work was carried out with support from the Basque Foundation for Science (Ikerbasque), POLYMAT, the University of the Basque Country, Gobierno Vasco (BERC programme). Technical and human support provided by SGIker of UPV/EHU and European funding (ERDF and ESF) is acknowledged. Open Access funding enabled and organized by Projekt DEAL

Scaling of Berry-curvature monopole dominated large linear positive magnetoresistance

The linear positive magnetoresistance (LPMR) is a widely observed phenomenon in topological materials, which is promising for potential applications on topological spintronics. However, its mechanism remains ambiguous yet and the effect is thus uncontrollable. Here, we report a quantitative scaling model that correlates the LPMR with the Berry curvature, based on a ferromagnetic Weyl semimetal CoS2 that bears the largest LPMR of over 500% at 2 Kelvin and 9 Tesla, among known magnetic topological semimetals. In this system, masses of Weyl nodes existing near the Fermi level, revealed by theoretical calculations, serve as Berry-curvature monopoles and low-effective-mass carriers. Based on the Weyl picture, we propose a relation $$\text{MR}=\frac{e}{\hbar }B{{\Omega }_{\text{F}}}$$, with B being the applied magnetic field and $${{\Omega }_{\text{F}}}$$ the average Berry curvature near the Fermi surface, and further introduce temperature factor to both MR/B slope (MR per unit field) and anomalous Hall conductivity, which establishes the connection between the model and experimental measurements. A clear picture of the linearly slowing down of carriers, i.e., the LPMR effect, is demonstrated under the cooperation of the k-space Berry curvature and real-space magnetic field. Our study not only provides an experimental evidence of Berry curvature induced LPMR for the first time, but also promotes the common understanding and functional designing of the large Berry-curvature MR in topological Dirac/Weyl systems for magnetic sensing or information storage

Current-driven magnetization switching in a van der Waals ferromagnet Fe3GeTe2

The recent discovery of ferromagnetism in two-dimensional (2D) van der Waals (vdW) materials holds promises for novel spintronic devices with exceptional performances. However, in order to utilize 2D vdW magnets for building spintronic nanodevices such as magnetic memories, key challenges remain in terms of effectively switching the magnetization from one state to the other electrically. Here, we devise a bilayer structure of Fe3GeTe2/Pt, in which the magnetization of few-layered Fe3GeTe2 can be effectively switched by the spin-orbit torques (SOTs) originated from the current flowing in the Pt layer. The effective magnetic fields corresponding to the SOTs are further quantitatively characterized using harmonic measurements. Our demonstration of the SOT-driven magnetization switching in a 2D vdW magnet could pave the way for implementing low-dimensional materials in the next-generation spintronic applications