Search for: All records

This work resolves the inter- and intramolecular polarized absorption of polarons in the organic semiconductor P3HT, allowing previous theoretical predictions to be tested. Vibronic coupling is shown to be crucial in understanding polaron absorption. 

Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly from images and physical interaction requires significant time on a robot and can fail to generalize across tasks. We address these challenges using interpretable deep visual representations for rope, extending recent work on dense object descriptors for robot manipulation. This facilitates the design of interpretable and transferable geometric policies built on top of the learned representations, decoupling visual reasoning and control. We present an approach that learns point-pair correspondences between initial and goal rope configurations, which implicitly encodes geometric structure, entirely in simulation from synthetic depth images. We demonstrate that the learned representation - dense depth object descriptors (DDODs) - can be used to manipulate a real rope into a variety of different arrangements either by learning from demonstrations or using interpretable geometric policies. In 50 trials of a knot-tying task with the ABB YuMi Robot, the system achieves a 66% knot-tying success rate from previously unseen configurations. See https://tinyurl.com/rope-learning for supplementary material and videos. 

II–IV–V 2 materials, ternary analogs to III–V materials, are emerging for their potential applications in devices such as LEDs and solar cells. Controlling cation ordering in II–IV–V 2 materials offers the potential to tune properties at nearly fixed compositions and lattice parameters. While tuning properties at a fixed lattice constant through ordering has the potential to be a powerful tool used in device fabrication, cation ordering also creates challenges with characterization and quantification of ordering. In this work, we investigate two different methods to quantify cation ordering in ZnGeP 2 thin films: a stretching parameter calculated from lattice constants , and an order parameter determined from the cation site occupancies ( S ). We use high resolution X-ray diffraction (HRXRD) to determine and resonant energy X-ray diffraction (REXD) to extract S . REXD is critical to distinguish between elements with similar Z -number ( e.g. Zn and Ge). We found that samples with a corresponding to the ordered chalcopyrite structure had only partially ordered S values. The optical absorption onset for these films occurred at lower energy than expected for fully ordered ZnGeP 2 , indicating that S is a more accurate descriptor of cation order than the stretching parameter. Since disorder is complex and can occur on many length scales, metrics for quantifying disorder should be chosen that most accurately reflect the physical properties of interest.