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Advances in machine learning algorithms for sensor fusion have significantly improved the detection and prediction of other road users, thereby enhancing safety. However, even a small angular displacement in the sensor's placement can cause significant degradation in output, especially at long range. In this paper, we demonstrate a simple yet generic and efficient multi-task learning approach that not only detects misalignment between different sensor modalities but is also robust against them for long-range perception. Along with the amount of misalignment, our method also predicts calibrated uncertainty, which can be useful for filtering and fusing predicted misalignment values over time. In addition, we show that the predicted misalignment parameters can be used for self-correcting input sensor data, further improving the perception performance under sensor misalignment.

Automated sperm morphology analysis plays a crucial role in the assessment of male fertility, yet its efficacy is often compromised by the challenges in accurately segmenting sperm images. Existing segmentation techniques, including the Segment Anything Model(SAM), are notably inadequate in addressing the complex issue of sperm overlap-a frequent occurrence in clinical samples. Our exploratory studies reveal that modifying image characteristics by removing sperm heads and easily segmentable areas, alongside enhancing the visibility of overlapping regions, markedly enhances SAM's efficiency in segmenting intricate sperm structures. Motivated by these findings, we present the Cascade SAM for Sperm Segmentation (CS3), an unsupervised approach specifically designed to tackle the issue of sperm overlap. This method employs a cascade application of SAM to segment sperm heads, simple tails, and complex tails in stages. Subsequently, these segmented masks are meticulously matched and joined to construct complete sperm masks. In collaboration with leading medical institutions, we have compiled a dataset comprising approximately 2,000 unlabeled sperm images to fine-tune our method, and secured expert annotations for an additional 240 images to facilitate comprehensive model assessment. Experimental results demonstrate superior performance of CS3 compared to existing methods., Comment: Early accepted by MICCAI2024

The coupling of mechanical deformation and electrical stimuli at the nanoscale has been a subject of intense investigation in the realm of materials science. Recently, twisted van der Waals (vdW) materials have emerged as a platform to explore exotic quantum states. These states are intimately tied to the formation of moir\'e superlattices, which can be visualized directly exploiting the electromechanical response. However, the origin of the response, even in twisted bilayer graphene (tBLG), remains unsettled. Here, employing lateral piezoresponse force microscopy (LPFM), we investigate the electromechanical responses of marginally twisted graphene moir\'e superlattices with different layer thicknesses. We observe distinct LPFM amplitudes and spatial profiles in tBLG and twisted monolayer-bilayer graphene (tMBG), exhibiting effective in-plane piezoelectric coefficients of 0.05 pm/V and 0.35 pm/V, respectively. Force tuning experiments further underscore a marked divergence in their responses. The contrasting behaviors suggest different electromechanical couplings in tBLG and tMBG. In tBLG, the response near the domain walls is attributed to the flexoelectric effect, while in tMBG, the behaviors can be comprehended within the context of piezoelectric effect. Our results not only provide insights to electromechanical and corporative effects in twisted vdW materials with different stacking symmetries, but may also show their potential for engineering them at the nanoscale.

The emergence of Large Language Models (LLMs) has necessitated the adoption of parallel training techniques, involving the deployment of thousands of GPUs to train a single model. Unfortunately, we have found that the efficiency of current parallel training is often suboptimal, largely due to the following two main issues. Firstly, hardware failures are inevitable, leading to interruptions in the training tasks. The inability to quickly identify the faulty components results in a substantial waste of GPU resources. Secondly, since GPUs must wait for parameter synchronization to complete before proceeding to the next round of computation, network congestions can greatly increase the waiting time for GPUs. To address these challenges, this paper introduces a communication-driven solution, namely the C4. The key insights of C4 are two folds. First, in parallel training, collective communication exhibits periodic and homogeneous characteristics, so any anomalies are certainly due to some form of hardware malfunction. By leveraging this feature, C4 can rapidly identify the faulty components, swiftly isolate the anomaly, and restart the task, thereby avoiding resource wastage caused by delays in anomaly detection. Second, the predictable communication model of collective communication, involving few large flows, allows C4 to efficiently execute traffic planning, substantially reducing network congestion. C4 has been extensively implemented across our production systems, cutting error-induced overhead by roughly 30% and enhancing runtime performance by about 15% for certain applications with moderate communication costs.

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and 3D detection tasks, can lead to accurate 3D object detection with very sparse LiDAR support. Unlike more recent bird's-eye-view (BEV) sensor-fusion methods which scale with range $r$ as $O(r^2)$, SpotNet scales as $O(1)$ with range. We argue that such an architecture is ideally suited to leverage each sensor's strength, i.e. semantic understanding from images and accurate range finding from LiDAR data. Finally we show that anchoring detections on LiDAR points removes the need to regress distances, and so the architecture is able to transfer from 2MP to 8MP resolution images without re-training.

In this paper, we touch on the problem of markerless multi-modal human motion capture especially for string performance capture which involves inherently subtle hand-string contacts and intricate movements. To fulfill this goal, we first collect a dataset, named String Performance Dataset (SPD), featuring cello and violin performances. The dataset includes videos captured from up to 23 different views, audio signals, and detailed 3D motion annotations of the body, hands, instrument, and bow. Moreover, to acquire the detailed motion annotations, we propose an audio-guided multi-modal motion capture framework that explicitly incorporates hand-string contacts detected from the audio signals for solving detailed hand poses. This framework serves as a baseline for string performance capture in a completely markerless manner without imposing any external devices on performers, eliminating the potential of introducing distortion in such delicate movements. We argue that the movements of performers, particularly the sound-producing gestures, contain subtle information often elusive to visual methods but can be inferred and retrieved from audio cues. Consequently, we refine the vision-based motion capture results through our innovative audio-guided approach, simultaneously clarifying the contact relationship between the performer and the instrument, as deduced from the audio. We validate the proposed framework and conduct ablation studies to demonstrate its efficacy. Our results outperform current state-of-the-art vision-based algorithms, underscoring the feasibility of augmenting visual motion capture with audio modality. To the best of our knowledge, SPD is the first dataset for musical instrument performance, covering fine-grained hand motion details in a multi-modal, large-scale collection., Comment: SIGGRAPH2024

The polarization characteristics of atmospheric scattering are important and should not be ignored in radiative transfer simulations. In this study, a new vector radiative transfer model called the polarized adding method of discrete ordinate approximation (POLDDA) is proposed for use in remote sensing applications for ultraviolet-visible and near-infrared spectra. The single-layer radiative transfer process and inhomogeneous multi-layer connection are solved using the discrete ordinate method (DOM) and adding methods, respectively. By combining the advantages of DOM and the adding method, the Stokes vector (including the I-, Q-, U-, and V-components) calculated using the new method conforms to the results of PolRadtran/RT3, whether in a Rayleigh scattering atmosphere or the water cloud case. Moreover, the relative root-mean-square error (RMSE) values of the Stokes vector for the test cases between MYSTIC and the new method or RT3 prove the accuracy of the proposed method. Meanwhile, the new method has a higher computational efficiency than RT3, particularly for an atmosphere with a large scattering optical depth. Unlike RT3, the computation time of the proposed method does not increase with the optical depth of each layer.

Quantum dense coding (QDC) means to transmit two classical bits by only transferring one quantum bit, which has enabled high-capacity information transmission and strengthened system security. Continuousvariable QDC offers a promising solution to increase communication rates while achieving seamless integration with classical communication systems. Here, we propose and experimentally demonstrate a high-speed quantum radio-frequency-over-light (RFoL) communication scheme based on QDC with entangled state, and achieve a practical rate of 20 Mbps through digital modulation and RFoL communication. This scheme bridges the gap between quantum technology and real-world communication systems, which bring QDC closer to practical applications and offer prospects for further enhancement of metropolitan communication networks.

For $\lambda>1$, we consider the locally free ${\mathbb Z}\ltimes_\lambda{\mathbb R}$ actions on ${\mathbb T}^2$. We show that, if the action is $C^r$ with $r\geq2$, then it is $C^{r-\epsilon}$-conjugate to an affine action generated by a hyperbolic automorphism and a linear translation flow along expanding eigen-direction of the automorphism. In contrast, there exists a $C^{1+\alpha}$-action which is semi-conjugate, but not topologically conjugate to an affine action.

Wireless baseband processing (WBP) is a key element of wireless communications, with a series of signal processing modules to improve data throughput and counter channel fading. Conventional hardware solutions, such as digital signal processors (DSPs) and more recently, graphic processing units (GPUs), provide various degrees of parallelism, yet they both fail to take into account the cyclical and consecutive character of WBP. Furthermore, the large amount of data in WBPs cannot be processed quickly in symmetric multiprocessors (SMPs) due to the unpredictability of memory latency. To address this issue, we propose a hierarchical dataflow-driven architecture to accelerate WBP. A pack-and-ship approach is presented under a non-uniform memory access (NUMA) architecture to allow the subordinate tiles to operate in a bundled access and execute manner. We also propose a multi-level dataflow model and the related scheduling scheme to manage and allocate the heterogeneous hardware resources. Experiment results demonstrate that our prototype achieves $2\times$ and $2.3\times$ speedup in terms of normalized throughput and single-tile clock cycles compared with GPU and DSP counterparts in several critical WBP benchmarks. Additionally, a link-level throughput of $288$ Mbps can be achieved with a $45$-core configuration., Comment: 7 pages, 7 figures, conference

Ignoring the differences between countries, human reproductive and dispersal behaviors can be described by some standardized models, so whether there is a universal law of population growth hidden in the abundant and unstructured data from various countries remains unclear. The age-specific population data constitute a three-dimensional tensor containing more comprehensive information. The existing literature often describes the characteristics of global or regional population evolution by subregion aggregation and statistical analysis, which makes it challenging to identify the underlying rules by ignoring national or structural details. Statistical physics can be used to summarize the macro characteristics and evolution laws of complex systems based on the attributes and motions of masses of individuals by decomposing high-dimensional tensors. Specifically, it can be used to assess the evolution of age structure in various countries over the past approximately 70 years, rather than simply focusing on the regions where aging has become apparent. It provides a universal scheme for the growing elderly and working age populations, indicating that the demographics on all continents are inevitably moving towards an aging population, including the current "young" continents of Africa, and Asia, South America with a recent "demographic dividend". It is a force derived from the "life cycle", and most countries have been unable to avoid this universal evolutionary path in the foreseeable future.

This paper studies the poisoning attack and defense interactions in a federated learning (FL) system, specifically in the context of wireless signal classification using deep learning for next-generation (NextG) communications. FL collectively trains a global model without the need for clients to exchange their data samples. By leveraging geographically dispersed clients, the trained global model can be used for incumbent user identification, facilitating spectrum sharing. However, in this distributed learning system, the presence of malicious clients introduces the risk of poisoning the training data to manipulate the global model through falsified local model exchanges. To address this challenge, a proactive defense mechanism is employed in this paper to make informed decisions regarding the admission or rejection of clients participating in FL systems. Consequently, the attack-defense interactions are modeled as a game, centered around the underlying admission and poisoning decisions. First, performance bounds are established, encompassing the best and worst strategies for attackers and defenders. Subsequently, the attack and defense utilities are characterized within the Nash equilibrium, where no player can unilaterally improve its performance given the fixed strategies of others. The results offer insights into novel operational modes that safeguard FL systems against poisoning attacks by quantifying the performance of both attacks and defenses in the context of NextG communications.

Federated learning is known for its capability to safeguard participants' data privacy. However, recently emerged model inversion attacks (MIAs) have shown that a malicious parameter server can reconstruct individual users' local data samples through model updates. The state-of-the-art attacks either rely on computation-intensive search-based optimization processes to recover each input batch, making scaling difficult, or they involve the malicious parameter server adding extra modules before the global model architecture, rendering the attacks too conspicuous and easily detectable. To overcome these limitations, we propose Scale-MIA, a novel MIA capable of efficiently and accurately recovering training samples of clients from the aggregated updates, even when the system is under the protection of a robust secure aggregation protocol. Unlike existing approaches treating models as black boxes, Scale-MIA recognizes the importance of the intricate architecture and inner workings of machine learning models. It identifies the latent space as the critical layer for breaching privacy and decomposes the complex recovery task into an innovative two-step process to reduce computation complexity. The first step involves reconstructing the latent space representations (LSRs) from the aggregated model updates using a closed-form inversion mechanism, leveraging specially crafted adversarial linear layers. In the second step, the whole input batches are recovered from the LSRs by feeding them into a fine-tuned generative decoder. We implemented Scale-MIA on multiple commonly used machine learning models and conducted comprehensive experiments across various settings. The results demonstrate that Scale-MIA achieves excellent recovery performance on different datasets, exhibiting high reconstruction rates, accuracy, and attack efficiency on a larger scale compared to state-of-the-art MIAs.

Standard approximations for the exchange-correlation (XC) functional in Kohn-Sham density functional theory (KS-DFT) typically lead to unacceptably large errors when applied to strongly-correlated electronic systems. Partition-DFT (PDFT) is a formally exact reformulation of KS-DFT in which the ground-state density and energy of a system are obtained through self-consistent calculations on isolated fragments, with a partition energy representing the \textit{inter}-fragment interactions. Here we show how typical errors of the local density approximation (LDA) in KS-DFT can be largely suppressed through a simple approximation, the generalized overlap approximation (GOA), for the partition energy in PDFT. Our method is illustrated on simple models of one-dimensional strongly-correlated linear hydrogen chains. The GOA, when used in combination with the LDA for the fragments, improves the LDA dissociation curves of hydrogen chains and produces results that are comparable to those of spin-unrestricted LDA, but without breaking the spin symmetry. GOA also induces a correction to the LDA electron density that partially captures the correct density dimerization in strongly-correlated hydrogen chains. Moreover, with an additional correction to the partition energy, the approximation is shown to produce dissociation energies in quantitative agreement to calculations based on the Density Matrix Renormalization Group method.

Electrochemical reactions represent essential processes in fundamental chemistry that foster a wide range of applications. Although most electrochemical reactions in bulk substances can be well described by the classical Marcus-Gerischer charge transfer theory, the realistic reaction character and mechanism in dimensionally confined systems remain unknown. Here, we report the multiparametric survey on the kinetics of lateral photooxidation in structurally identical WS2 and MoS2 monolayers, where electrochemical oxidation occurs at the atomically thin monolayer edges. The oxidation rate is correlated quantitatively with various crystallographic and environmental parameters, including the density of reactive sites, humidity, temperature, and illumination fluence. In particular, we observe distinctive reaction barriers of 1.4 and 0.9 eV for the two structurally identical semiconductors and uncover an unusual non-Marcusian charge transfer mechanism in these dimensionally confined monolayers due to the limit in reactant supplies. A scenario of band bending is proposed to explain the discrepancy in reaction barriers. These results add important knowledge into the fundamental electrochemical reaction theory in low-dimensional systems., Comment: 20 pages, 4 figures

The capability to finely tailor material thickness with simultaneous atomic precision and non-invasivity would be useful for constructing quantum platforms and post-Moore microelectronics. However, it remains challenging to attain synchronized controls over tailoring selectivity and precision. Here we report a protocol that allows for non-invasive and atomically digital etching of van der Waals transition-metal dichalcogenides through selective alloying via low-temperature thermal diffusion and subsequent wet etching. The mechanism of selective alloying between sacrifice metal atoms and defective or pristine dichalcogenides is analyzed with high-resolution scanning transmission electron microscopy. Also, the non-invasive nature and atomic level precision of our etching technique are corroborated by consistent spectral, crystallographic and electrical characterization measurements. The low-temperature charge mobility of as-etched MoS$_2$ reaches up to $1200\,$cm$^{2}\cdot$V$^{-1}\cdot$s$^{-1}$, comparable to that of exfoliated pristine counterparts. The entire protocol represents a highly precise and non-invasive tailoring route for material manipulation., Comment: 46 pages, 4 figures, with SI

Antiferromagnetic (AF) materials are attracting increasing interest of research in magnetic physics and spintronics. Here, we report controllable synthesis of room-temperature AF $\alpha$-MnTe nanocrystals (N\'eel temperature ~ 307 K) via molten-salt-assisted chemical vapor deposition method. The growth kinetics are investigated regarding the dependence of flake dimension and macroscopic shape on growth time and temperature. The high crystalline quality and atomic structure are confirmed by various crystallographic characterization means. Cryogenic magneto-transport measurements reveal anisotropic magnetoresistance (MR) response and a complicated dependence of MR on temperature, owing to the subtle competition among multiple scattering mechanisms of thermally excited magnetic disorders (magnon drag), magnetic transition and thermally populated lattice phonons. Overall positive MR behavior with twice transitions in magnitude is observed when out-of-plane external magnetic field ($B$) is applied, while a transition from negative to positive MR response is recorded when in-plane $B$ is applied. The rich magnetic transport properties render $\alpha$-MnTe a promising material for exploiting functional components in magnetic devices., Comment: 15 pages, 4 figures

Lattice defects and interfacial absorbates represent two extrinsic but ubiquitous factors that exert profound impacts on the luminescent properties of semiconductors. However, their impacts are normally tangled and remain to be separately elucidated. Here, we clarify the individual roles of each factor by tracking the weight evolution of photonic quasiparticles by modulating the densities of sulfur vacancies in monolayer MoS$_2$ via ad hoc defect engineering. In particular, we perform atomistic analyses on the densities of sulfur vacancies by employing atomically resolved scanning transmission electron microscopy to quantitatively characterize the generation rates of sulfur vacancies in MoS$_2$ on two types of substrates with opposite surface hydrophobicity natures. We reveal that the generation rate of sulfur vacancies can even double on the hydrophilic substrates. More importantly, the impact of sulfur vacancies over the weight of trionic emission is closely associated with the substrate hydrophobicity, which is manifested noticeably in the hydrophobic substrates, but insignificant in the hydrophilic ones. The results represent an in-depth understanding on the roles of the extrinsic factors on the luminescent properties in atomically thin semiconductors., Comment: 20 pages, 5 figures, 1 SI

Two-dimensional (2D) semiconductors have attracted considerable interest for their unique physical properties. Here, we report the intrinsic cryogenic electronic transport properties in few-layer MoSe$_2$ field-effect transistors (FETs) that are simultaneously van der Waals contacted with gold electrodes and are fully encapsulated in ultraclean hexagonal boron nitride dielectrics. The FETs exhibit electronically favorable channel/dielectric interfaces with low densities of interfacial traps ($10^{10}\,$cm$^{-2}$), which lead to outstanding device characteristics at room temperature, including a near-Boltzmann-limit subthreshold swings ($\lt65\,$mV/dec), a high carrier mobility ($68\,$cm$^{2}\cdot$V$^{-1}\cdot$s$^{-1}$), and a negligible scanning hysteresis ($\lt15\,$mV). The dependence of various contact-related quantities on temperature and carrier density are also systematically characterized to understand the van der Waals contacts between gold and MoSe$_2$. The results provide insightful information on the device physics in van der Waals contacted and encapsulated 2D FETs., Comment: 14 pages, 4 figures

Two-dimensional (2D) van der Waals semiconductors are appealing for low-power transistors. Here, we show the feasibility in enhancing carrier mobility in 2D semiconductors through engineering the vertical distribution of carriers confined inside the ultrathin channels via symmetrizing gate configuration or increasing channel thickness. Through self-consistently solving the Schr\"odinger-Poisson equations, the shapes of electron envelope functions are extensively investigated by clarifying their relationship with gate configuration, channel thickness, dielectric permittivity, and electron density. The impacts of electron distribution variation on various carrier scattering matrix elements and overall carrier mobility are insightfully clarified. It is found that the carrier mobility can be generally enhanced in the dual-gated configuration due to the centralization of carrier redistribution in the nanometer-thick semiconductor channels and the rate of increase reaches up to 23% in HfO$_2$ dual-gated 10-layer MoS$_2$ channels. This finding represents a viable strategy for performance optimization in transistors consisting of 2D semiconductors., Comment: 15 pages, 5 figures

Atomically thin two-dimensional (2D) van der Waals semiconductors are promising candidate materials for post-silicon electronics. However, it remains challenging to attain completely uniform monolayer semiconductor wafers free of over-grown islands. Here, we report the observation of the energy funneling effect and ambient photodelamination phenomenon in inhomogeneous few-layer WS$_2$ flakes under low illumination fluencies down to several nW/$\mu$m$^{2}$ and its potential as a non-invasive post-etching strategy for selectively stripping the local excessive overlying islands. Photoluminescent tracking on the photoetching traces reveals relatively fast etching rates around $0.3-0.8\,\mu$m/min at varied temperatures and an activation energy of $1.7\,$eV. By using crystallographic and electronic characterization, we also confirm the non-invasive nature of the low-power photodelamination and the highly preserved lattice quality in the as-etched monolayer products, featuring a comparable average density of atomic defects (ca.$4.2\times 10^{13}\,$cm$^{-2}$) to pristine flakes and a high electron mobility up to $80\,$cm$^{2}\cdot$V$^{-1}\cdot$s$^{-1}$) at room temperature. This approach opens a non-invasive photoetching route for thickness uniformity management in 2D van der Waals semiconductor wafers for electronic applications., Comment: 30 pages, 4 figures, with SI

Layered two-dimensional dichalcogenides are potential candidates for post-silicon electronics. Here, we report insightfully experimental and theoretical studies on the fundamental Coulomb screening and scattering effects in these correlated systems, in response to the changes of three crucial Coulomb factors, including electric permittivity, interaction length, and density of Coulomb impurities. We systematically collect and analyze the trends of electron mobility with respect to the above factors, realized by synergic modulations on channel thicknesses and gating modes in dual-gated MoS2 transistors with asymmetric dielectric cleanliness. Strict configurative form factors are developed to capture the subtle parametric changes across dimensional crossover. A full diagram of the carrier scattering mechanisms, in particular on the pronounced Coulomb scattering, is unfolded. Moreover, we clarify the presence of up to 40% discrepancy in mobility by considering the permittivity modification across dimensional crossover. The understanding is useful for exploiting atomically thin body transistors for advanced electronics., Comment: 26 pages, 5 figures

Device passivation through ultraclean hexagonal BN encapsulation is proven one of the most effective ways for constructing high-quality devices with atomically thin semiconductors that preserves the ultraclean interface quality and intrinsic charge transport behavior. However, it remains challenging to integrate lithography compatible contact electrodes with flexible distributions and patterns. Here, we report the feasibility in straightforwardly integrating lithography defined contacts into BN encapsulated 2D FETs, giving rise to overall device quality comparable to the state-of-the-art results from the painstaking pure dry transfer processing. Electronic characterization on FETs consisting of WSe$_2$ and MoS$_2$ channels reveals an extremely low scanning hysteresis of ca. 2 mV on average, a low density of interfacial charged impurity of ca. $10^{11}\,$cm$^{-2}$, and generally high charge mobilities over $1000\,$cm$^{2}\cdot$V$^{-1}\cdot$s$^{-1}$ at low temperatures. The overall high device qualities verify the viability in directly integrating lithography defined contacts into BN encapsulated devices to exploit their intrinsic charge transport properties for advanced electronics., Comment: 17 pages, 4 figures

We propose a semi-suspended device structure and construct nanogapped, hysteresis-free field-effect transistors (FETs), based on the van der Waals stacking technique. The structure, which features a semi-suspended channel above a submicron-long wedge-like nanogap, is fulfilled by transferring ultraclean BN-supported MoS$_2$ channels directly onto dielectric-spaced vertical source/drain stacks. Electronic characterization and analyses reveal a high overall device quality, including ultraclean channel interfaces, negligible electrical scanning hysteresis, and Ohmic contacts in the structures. The unique hollow FET structure holds the potential for exploiting reliable electronics, as well as nanofluid and pressure sensors., Comment: 22 pages, 4 figures, with SI

Charge injection mechanism from contact electrodes into two-dimensional (2D) dichalcogenides is an essential topic for exploiting electronics based on 2D channels, but remains not well understood. Here, low-work-function metal ytterbium (Yb) was employed as contacts for tungsten disulfide (WS$_2$) to understand the realistic injection mechanism. The contact properties in WS$_2$ with variable temperature (T) and channel thickness (tch) were synergetically characterized. It is found that the Yb/WS$_2$ interfaces exhibit a strong pinning effect between energy levels and a low contact resistance ($R_\rm{C}$) value down to $5\,k\Omega\cdot\mu$m. Cryogenic electrical measurements reveal that $R_\rm{C}$ exhibits weakly positive dependence on T till 77 K, as well as a weakly negative correlation with tch. In contrast to the non-negligible $R_\rm{C}$ values extracted, an unexpectedly low effective thermal injection barrier of 36 meV is estimated, indicating the presence of significant tunneling injection in subthreshold regime and the inapplicability of the pure thermionic emission model to estimate the height of injection barrier.