ABSTRACT
The triangular lattice antiferromagnet (TLAF) has been the standard paradigm of frustrated magnetism for several decades. The most common magnetic ordering in insulating TLAFs is the 120° structure. However, a new triple-Q chiral ordering can emerge in metallic TLAFs, representing the short wavelength limit of magnetic skyrmion crystals. We report the metallic TLAF Co1/3TaS2 as the first example of tetrahedral triple-Q magnetic ordering with the associated topological Hall effect (non-zero σxy(H = 0)). We also present a theoretical framework that describes the emergence of this magnetic ground state, which is further supported by the electronic structure measured by angle-resolved photoemission spectroscopy. Additionally, our measurements of the inelastic neutron scattering cross section are consistent with the calculated dynamical structure factor of the tetrahedral triple-Q state.
ABSTRACT
This paper introduces a robotic walking and sit-to-stand support system, Smart Mobile Walker(SMW), and presents kinematic analysis of the system. For supporting person's sit-to-stand movement, the motion of SMW is modeled by the analysis of kinematics. The results of analysis are used for simulations and its feasibility is investigated by simulations. The feasibility shows our analysis of kinematics can be applied as a base of making optimal motion trajectory for helping sit-to-stand.
