From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle selection should be optimized to ensure high performance while avoiding abrupt variations and preserving real-world feasibility. In this context, this work proposes a lightweight control framework for star-shaped interdependent cant-tilting hexarotor UAVs performing interaction tasks. The method uses an offline-computed look-up table of zero-moment force polytopes to identify feasible cant angles for a desired control force and select the optimal one by balancing efficiency and smoothness. The framework is integrated with a geometric full-pose controller and validated through Monte Carlo simulations in MATLAB/Simulink and compared against a baseline strategy. The results show a significant reduction in computation time, together with improved pose-tracking performance and competitive actuation efficiency. A final physics-based simulation of a complete wall inspection task in Simscape further confirms the feasibility of the proposed strategy in interact
Ensuring the resilience of Large Language Models (LLMs) against malicious exploitation is paramount, with recent focus on mitigating offensive responses. Yet, the understanding of cant or dark jargon remains unexplored. This paper introduces a domain-specific Cant dataset and CantCounter evaluation framework, employing Fine-Tuning, Co-Tuning, Data-Diffusion, and Data-Analysis stages. Experiments reveal LLMs, including ChatGPT, are susceptible to cant bypassing filters, with varying recognition accuracy influenced by question types, setups, and prompt clues. Updated models exhibit higher acceptance rates for cant queries. Moreover, LLM reactions differ across domains, e.g., reluctance to engage in racism versus LGBT topics. These findings underscore LLMs' understanding of cant and reflect training data characteristics and vendor approaches to sensitive topics. Additionally, we assess LLMs' ability to demonstrate reasoning capabilities. Access to our datasets and code is available at https://github.com/cistineup/CantCounter.
During laser-induced phase transitions, fast transformations of electronic, atomic, and spin configurations often involve emergence of hidden and metastable phases. Being inaccessible under any other stimuli, such phases are indispensable for unveiling mechanisms and controlling the transitions. We experimentally explore spin kinetics during ultrafast first-order 90$^{\circ}$ spin-reorientation (SR) transition in a canted antiferromagnet Fe$_3$BO$_6$, and reveal that the transition is controlled by the canting between the magnetic sublattices. Laser-induced perturbation of the Dzyaloshinskii-Moriya interaction results in a change of the intersublattice canting within first picoseconds, bringing Fe$_3$BO$_6$ to a hidden phase. Once this phase emerges, laser-induced heating activates precessional 90$^\circ$ spin switching. Combination of the spin canting and heating controls the final spin configuration comprising coexisting initial and switched phases. Extended phase coexistence range is in a striking contrast to the narrow SR transition in Fe$_3$BO$_6$ induced by conventional heating.
The topological charge-Hall effect (TCHE) and the topological spin-Hall effect (TSHE), arising from ferromagnetic (FM) and antiferromagnetic (AFM) skyrmions, respectively; can be elucidated through the emergence of spin-dependent Berry gauge fields that affect the adiabatic flow of electrons within the skyrmion texture. TCHE is absent in systems with parity-time (PT) symmetry, such as collinear AFM systems. In this paper, we theoretically study TCHE and TSHE in a canted antiferromagnetic within the diffusive transport regime. Spin canting or weak ferromagnetism in canted AFMs, which break the PT symmetry, may arise, e.g., from strong homogeneous Dzyaloshinskii-Moriya interactions. Using a semiclassical Boltzmann approach, we obtain diffusion equations for the spin and charge accumulations in the presence of finite spin-flip and spin-dependent momentum relaxation times. We show that the weak ferromagnetic moment stemming from spin canting and the subsequent breaking of parity-time symmetry results in the emergence of both finite TCHE and TSHE in AFM systems.
We consistently observe a unique pattern in remanence in a number of canted-antiferromagnets (AFM) and piezomagnets. A part of the remanence is $\textit{quasi-static}$ in nature and vanishes above a critical magnetic field. Present work is devoted to exploring this $\textit{quasi-static}$ remanence ($μ$) in a series of isostructural canted-AFMs and piezomagnets that possess progressively increasing Néel temperature ($T{_N}$). Comprehensive investigation of remanence as a function of $\textit{magnetic-field}$ and $\textit{time}$ in CoCO$_{3}$, NiCO$_{3}$ and MnCO$_{3}$ reveals that the magnitude of $μ$ increases with decreasing $T{_N}$, but the stability with time is higher in the samples with higher $T{_N}$. Further to this, all three carbonates exhibit a universal scaling in $μ$, which relates to the concurrent phenomenon of piezomagnetism. Overall, these data not only establish that the observation of $\textit{quasi-static}$ remanence with $\textit{counter-intuitive}$ magnetic-field dependence can serve as a foot-print for spin-canted systems, but also confirms that simple remanence measurements, using SQUID magnetometry, can provide insights about the extent of spin canting - a
The Haldane-spin chain compound, Tb2BaNiO5, has been known to be an exotic multiferroic system, exhibiting antiferromagnetic anomalies at T_N1= 63 K and T_N2= 25 K, with ferroelectricity appearing below T_N2 only. Previous reports in addition established that, interestingly, Tb ions play a direct and decisive role to lead to multiferroic properties with a critical canting angle of magnetic moments, unlike other well-known multiferroics. Here, we report the results of temperature dependent neutron powder diffraction studies on Tb_2-x Y_x BaNiO_5, to get an insight into the critical canting angle for multiferroic behavior. While multiferroic transition temperature decreases linearly with Y concentration, there is an abrupt drop of relative canting angle (of Tb and Ni magnetic moments) with respect to that in parent compound for an initial substitution ofx = 0.5 in the multiferroic region, without any notable change thereafter. We therefore infer that this critical canting angle is made up of two components - cooperative (long-range) and local (short-range) contributions.
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we present a rigorous analysis of how the force subspace varies with the tilt cant angles, namely the tilt angles along the vehicle arms, taking into account gravity compensation and torque decoupling to abide by the hovering condition. Novel metrics are introduced to assess the performance of existing tilted platforms, as well as to provide some guidelines for the selection of the tilt cant angle in the design phase.
Spinful triplet Cooper pairs can be generated from their singlet counterparts available in a conventional superconductor (S) using two or more noncollinear magnetic moments, typically contributed by different magnets in a multilayered heterostructure. Here, we theoretically demonstrate that an S interfaced with a canted antiferromagnet (AF) harbors spinful triplet Cooper pairs capitalizing on the intrinsic noncollinearity between the two AF sublattice magnetizations. As the AF canting can be controlled by an applied field, our work proposes a simple bilayer structure that admits controllable generation of spin-triplet Cooper pairs. Employing the Bogoliubov-de Gennes framework, we delineate the spatial dependence of the spin-triplet correlations. We further evaluate the superconducting critical temperature as a function of the AF canting, which provides one experimental observable associated with the emergence of these triplet correlations.
High resolution electron energy loss spectroscopy (HR-EELS) is utilized to probe the surface spin canting in nanoparticles of two technologically important magnetic materials, i.e. Fe3O4 and CoFe2O4 (CFO). A soft experimental technique is developed that is capable of extracting EELS spectra with one atomic plane resolution recorded in a single frame. This yields information at different depth of the nanoparticle from the surface to the core regions with high signal to noise ratio and without beam damage. This enables comparing the fine structures between the surface and core regions of the nanoparticles. The results confirm earlier observations of uniformly oriented spin canting structure for CFO with additional information on atom site-selective spin canting information. In case of Fe3O4 preferred canting orientation forming core and shell structure is deduced. Unlike earlier reports based on polarized spin-flip neutron scattering measurement, it is possible to narrow down the possible canting angles for Fe3O4 (Td, Oh tilts 40°, 40°) and CFO (Td, Oh tilts 17°, 17°) from the experimental spectra combined with the first principle based calculation considering non-collinear magnetism
Cavity spintronics explores light matter interactions at the interface between spintronic and quantum phenomena. Until now, studies have focused on the hybridization between ferromagnets and cavity photons.In this article, we realize antiferromagnetic cavity-magnon polaritons. The collective spin motion in single hematite crystals (α-Fe2O3) hybridizes with 18 - 45 GHz microwave cavity photons with required specific symmetries. We show theoretically and experimentally that the photon-magnon coupling in the collinear phase is mediated by the dynamical Neel vector and the weak magnetic moment in the canted phase by measuring across the Morin transition. The coupling strength g is shown to scale with the anisotropy field in the collinear phase and with the Dzyaloshinskii-Moriya field in the canted phase. We achieve a strong coupling regime both in canted (C > 25 at 300 K) and noncolinear phases (C > 4 at 150 K) and thus coherent information exchange with antiferromagnets These results evidence a generic strategy to achieve cavity-magnon polaritons in antiferromagnets for different symmetries, opening the field of cavity spintronics to antiferromagnetic materials.
MnSiN$_2$ is a transition metal nitride with Mn and Si ions displaying an ordered distribution on the cation sites of a distorted wurtzite-derived structure. The Mn$^{2+}$ ions reside on a 3D diamond-like covalent network with strong superexchange pathways. We simulate its electronic structure and find that the N anions in MnSiN$_2$ act as $σ$- and $π$-donors, which serve to enhance the N-mediated superexchange, leading to the high Néel ordering temperature of $T_N$ = 443 K. Polycrystalline samples of MnSiN$_2$ were prepared to reexamine the magnetic structure and resolve previously reported discrepancies. An additional magnetic canting transition is observed at $T_\mathrm{cant}$ = 433 K and the precise canted ground state magnetic structure has been resolved using a combination of DFT calculations and powder neutron diffraction. The calculations favor a $G$-type antiferromagnetic spin order with lowering to $Pc^\prime$. Irreducible representation analysis of the magnetic Bragg peaks supports the lowering of the magnetic symmetry. The computed model includes a 10$^\circ$ rotation of the magnetic spins away from the crystallographic $c$-axis consistent with measured powder neutron d
While the dominant magnetic interaction in La$_2$CuO$_4$ is superexchange between nearest-neighbor Cu moments, the pinning of the spin direction depends on weak anisotropic effects associated with spin-orbit coupling. The symmetry of the octahedral tilt pattern allows an out-of-plane canting of the Cu spins, which is compensated by an opposite canting in nearest-neighbor layers. A strong magnetic field applied perpendicular to the planes can alter the spin canting pattern to induce a weak ferromagnetic phase. In light of recent evidence that the lattice symmetry is lower than originally assumed, we take a new look at the nature of the field-induced spin-rotation transition. Comparing low-temperature neutron diffraction intensities for several magnetic Bragg peaks measured in fields of 0 and 14 T, we find that a better fit is provided by a model in which spins rotate within both neighboring planes but by different amounts, resulting in a noncollinear configuration. This model allows a more consistent relationship between lattice symmetry and spin orientation at all Cu sites.
Hexagonal YMnO$_{3}$ is a prototype antiferromagnet which exhibits multiferroic behavior with the ferroelectric and magnetic transitions occurring at different temperatures. We observe an out-of-plane canting of the Mn$^{3+}$ magnetic moments using resonant X-ray diffraction (RXD) in a single crystal of this material. These canted moments result in the symmetry-forbidden (0,0,1) magnetic Bragg reflection, which is observed at the Mn $L_{2,3}$ absorption edges. We also observe an unexpected difference in the RXD spectral shapes at different temperatures. Using ab initio calculations, we explore the possibility that this behavior arises due to the interference between scattering from the canted magnetic moments and parity-odd atomic multipoles on the Mn$^{3+}$ ions.
Cant is important for understanding advertising, comedies and dog-whistle politics. However, computational research on cant is hindered by a lack of available datasets. In this paper, we propose a large and diverse Chinese dataset for creating and understanding cant from a computational linguistics perspective. We formulate a task for cant understanding and provide both quantitative and qualitative analysis for tested word embedding similarity and pretrained language models. Experiments suggest that such a task requires deep language understanding, common sense, and world knowledge and thus can be a good testbed for pretrained language models and help models perform better on other tasks. The code is available at https://github.com/JetRunner/dogwhistle. The data and leaderboard are available at https://competitions.codalab.org/competitions/30451.
We argue, in contrast to recent studies, that the antiferromagnetic superexchange coupling between nearest neighbour spins does not fully destroy the ferromagnetism in dilute magnets with long-ranged ferromagnetic couplings. Above a critical coupling, we find a \textit{canted} ferromagnetic phase with unsaturated moment. We have calculated the transition temperature using a simplified local Random Phase Approximation procedure which accounts for the canting. For the dilute magnetic semiconductors, such as GaMnAs, using \textit{ab-initio} couplings allows us to predict the existence of a canted phase and provide an explanation to the apparent contradictions observed in experimental measurements. Finally, we have compared with previous studies that used RKKY couplings and reported non-ferromagnetic state when the superexchange is too strong. Even in this case the ferromagnetism should remain essentially stable in the form of a canted phase.
We have analyzed the dynamics of a single hole doped in a canted antiferromagnet using the t-J model. Within the self consistent Born approximation we have found that the hole propagates at two different energy scales along the antiferromagnetic and the ferromagnetic components of the canted order, respectively. While the many body quasiparticle excitation has its origin in the coherent coupling of the hole with the magnon excitations of the antiferromagnetic component, the ferromagnetic component gives rise to a free like hole motion at higher energies. We have found a non-trivial behavior of the hole spectral function with the canting angle. In particular, in the strong coupling regime, the quasiparticle weight strongly depends on the momenta, vanishing inside the magnetic Brillouin zone for a canting angle greater than 60 degree.
We report an unconventional quantum spin Hall phase in the monolayer T$_\text{d}$-WTe$_2$, which exhibits hitherto unknown features in other topological materials. The low-symmetry of the structure induces a canted spin texture in the $yz$ plane, which dictates the spin polarization of topologically protected boundary states. Additionally, the spin Hall conductivity gets quantized ($2e^2/h$) with a spin quantization axis parallel to the canting direction. These findings are based on large-scale quantum simulations of the spin Hall conductivity tensor and nonlocal resistances in multi-probe geometries using a realistic tight-binding model elaborated from first-principle methods. The observation of this canted quantum spin Hall effect, related to the formation of topological edge states with nontrivial spin polarization, demands for specific experimental design and suggests interesting alternatives for manipulating spin information in topological materials.
Three-dimensional (3D) compensated MnBi2Te4 is antiferromagnetic, but undergoes a spin-flop transition at intermediate fields, resulting in a canted phase before saturation. In this work, we experimentally show that the anomalous Hall effect (AHE) in MnBi2Te4 originates from a topological response that is sensitive to the perpendicular magnetic moment and to its canting angle. Synthesis by molecular beam epitaxy allows us to obtain a large-area quasi-3D 24-layer MnBi2Te4 with near-perfect compensation that hosts the phase diagram observed in bulk which we utilize to probe the AHE. This AHE is seen to exhibit an antiferromagnetic response at low magnetic fields, and a clear evolution at intermediate fields through surface and bulk spin-flop transitions into saturation. Throughout this evolution, the AHE is super-linear versus magnetization rather than the expected linear relationship. We reveal that this discrepancy is related to the canting angle, consistent with the symmetry of the crystal. Our findings suggests that novel topological responses may be found in non-collinear ferromagnetic, and antiferromagnetic phases.
The possibilities of oxygen moment formation and canting in the quasi-1D cuprate Li2CuO2 are investigated using single crystal neutron diffraction at 2 K. The observed magnetic intensities could not be explained without the inclusion of a large ordered oxygen moment of 0.11(1) Bohr magnetons. Least-squares refinement of the magnetic structure of Li2CuO2 in combination with a spin-density Patterson analysis shows that the magnetization densities of the Cu and O atoms are highly aspherical, forming quasi-1D ribbons of localised Cu and O moments. Magnetic structure refinements and low-field magnetization measurements both suggest that the magnetic structure of Li2CuO2 at 2 K may be canted. A possible model for the canted configuration is proposed.
This paper establishes the orderability of contact manifolds which are quotients of fillable contact manifolds under finite group actions compatible with the filling, the prototypical example being $\mathbb{R}P^{2n-1}$ as the quotient of $S^{2n-1}$. Our approach employs an equivariant formulation of the so-called contact Floer cohomology theory. This leads us to develop an analogue of Givental's nonlinear Maslov index using the $\mathbf{k}[[x]]$-module structure on an equivariant version of contact Floer cohomology. A key idea is that mapping cones of continuation maps detect crossings with the discriminant (recall that Givental's index is a continuous integer valued function on the complement of the discriminant). To properly handle the inherent non-canonicity in defining such mapping cones, we lift the structure of contact Floer cohomology to chain level by defining it as an $\infty$-functor on a suitable $\infty$-categorification of the Eliashberg-Polterovich orderability relation on the universal cover of the contactomorphism group.