This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity p...This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity prediction model is proposed to compensate for the unknown dynamic model,as the kinematic model cannot accurately characterize the motion characteristics of the robot.Then,by introducing the Lorentz function,the improved iterative linear quadratic regulator(iLQR) method is used to solve the nonlinear MPC(NMPC) controller with constraints.In addition,in order to reduce computational burden,a closed gradient calculation method is introduced to improve algorithm efficiency.Finally,the feasibility and effectiveness of this method are verified through simulation and experiment.展开更多
In this paper,we propose a novel probabilistic method for predicting the undrained bearing capacity of spatially variable soils.Our approach combines a Gaussian process regression(GPR)-based surrogate model with rando...In this paper,we propose a novel probabilistic method for predicting the undrained bearing capacity of spatially variable soils.Our approach combines a Gaussian process regression(GPR)-based surrogate model with random cell-based smoothed finite analysis.The Gaussian process emulator(GPE)serves as a statistical tool for making predictions from a data set.First,we validate the accuracy and efficiency of kinematic limit analysis using the cell-based smoothed finite element method(CS-FEM)against the standard finite element method(FEM)and edge-based smoothed FEM(ES-FEM).The numerical results demonstrate that the CS-FEM framework surpasses traditional numerical approaches,establishing its reliability in computing collapse loads.Subsequently,we conduct several hundred simulations to develop a surrogate model for predicting the undrained bearing capacity of shallow foundations.By utilizing various kernel functions,we enhance the accuracy of the GPE in these predictions.This method offers a practical and efficient solution,effectively addressing multiple uncertainties.Numerical results indicate that the GPE significantly boosts computational efficiency,achieving satisfactory outcomes within minutes compared to the days required for conventional simulations.Notably,the mean absolute percentage error(MAPE)decreases from 2.38%to 1.82%for rough foundations when employing Matérn and rational quadratic kernel functions,respectively.Additionally,combining different kernel functions further enhances the accuracy of collapse load predictions.展开更多
Many complex systems are frequently subject to the influence of uncertain disturbances,which can exert a profound effect on the critical transitions(CTs),potentially resulting in catastrophic consequences.Consequently...Many complex systems are frequently subject to the influence of uncertain disturbances,which can exert a profound effect on the critical transitions(CTs),potentially resulting in catastrophic consequences.Consequently,it is of uttermost importance to provide warnings for noise-induced CTs in various applications.Although capturing certain generic symptoms of transition behaviors from observational and simulated data poses a challenging problem,this work attempts to extract information regarding CTs from simulated data of a Gaussian white noise-induced tri-stable system.Using the extended dynamic mode decomposition(EDMD)algorithm,we initially obtain finite-dimensional approximations of both the stochastic Koopman operator and the generator.Subsequently,the drift parameters and the noise intensity within the system are identified from the simulated data.Utilizing the identified system,the parameter-dependent basin of the unsafe regime(PDBUR)is quantified,enabling data-driven early warning of Gaussian white noise-induced CTs.Finally,an error analysis is carried out to verify the effectiveness of the data-driven results.Our findings may serve as a paradigm for understanding and predicting noise-induced CTs in complex systems based on data.展开更多
针对现有SLAM算法在渲染真实感、内存占用和复杂场景适应性方面的不足,提出了一种基于3D Gaussians Splatting的密集SLAM算法——TIGO-SLAM(tensor illumination and Gaussian optimization for indoor SLAM)。该算法集成了基于神经网...针对现有SLAM算法在渲染真实感、内存占用和复杂场景适应性方面的不足,提出了一种基于3D Gaussians Splatting的密集SLAM算法——TIGO-SLAM(tensor illumination and Gaussian optimization for indoor SLAM)。该算法集成了基于神经网络的张量光照模型、改进的高斯遮罩算法以及网格化神经场的几何和颜色属性表示,具体创新包括:a)基于神经网络的张量光照模型,增强镜面反射与漫反射效果,从而提升了渲染真实感;b)通过冗余高斯剔除机制改进高斯遮罩算法,有效降低了内存消耗并提高了实时性;c)结合网格化神经场的几何与颜色属性表示,采用优化的码本存储方式,显著提高了渲染性能和场景重建精度。实验结果表明,TIGO-SLAM在室内场景渲染、内存优化和复杂场景适应性方面均有显著提升,特别是在动态室内环境中的渲染和重建效果表现突出,为SLAM技术在资源受限设备上的应用提供了新的可能。展开更多
Quantum phase estimation based on Gaussian states plays a crucial role in many application fields.In this paper,we study the precision bound for the scheme using two-mode squeezed Gaussian states.The quantum Fisher in...Quantum phase estimation based on Gaussian states plays a crucial role in many application fields.In this paper,we study the precision bound for the scheme using two-mode squeezed Gaussian states.The quantum Fisher information is calculated and its maximization is used to determine the optimal parameters.We find that two single-mode squeezed vacuum states are the optimal Gaussian inputs for a fixed two-mode squeezing process.The corresponding precision bound is sub-Heisenberg-limited and scales as N^(-1)/2.For practical purposes,we consider the effects originating from photon loss.The precision bound can still outperform the shot-noise limit when the lossy rate is below 0.4.Our work may demonstrate a significant and promising step towards practical quantum metrology.展开更多
The generation and reconnection of magneticflux ropes in a plasma irradiated by two Laguerre–Gaussian laser pulses with different frequen-cies and opposite topological charges are investigated numerically by particle-...The generation and reconnection of magneticflux ropes in a plasma irradiated by two Laguerre–Gaussian laser pulses with different frequen-cies and opposite topological charges are investigated numerically by particle-in-cell simulations.It is shown that twisted plasma currents and hence magneticflux ropes can be effectively generated as long as the laser frequency difference matches the electron plasma frequency.More importantly,subsequent reconnection of magneticflux ropes can occur.Typical signatures of magnetic reconnection,such as magnetic island formation and plasma heating,are identified in the reconnection of magneticflux ropes.Notably,it is found that a strong axial magneticfield can be generated on the axis,owing to the azimuthal current induced during the reconnection of the ropes.This indicates that in the reconnection of magneticflux ropes,the energy can be transferred not only from the magneticfield to the plasma but also from the plasma current back to the magneticfield.This work opens a new avenue to the study of magneticflux ropes,which helps in understanding magnetic topology changes,and resultant magnetic energy dissipation,plasma heating,and particle acceleration found in solarflares,and magnetic confinement fusion devices.展开更多
We apply methods of algebraic integral geometry to prove a special case of the Gaussian kinematic formula of Adler-Taylor.The idea,suggested already by Adler and Taylor,is to view the GKF as the limit of spherical kin...We apply methods of algebraic integral geometry to prove a special case of the Gaussian kinematic formula of Adler-Taylor.The idea,suggested already by Adler and Taylor,is to view the GKF as the limit of spherical kinematic formulas for spheres of large dimension N and curvature1/N.展开更多
Topological band theory has been studied for free fermions for decades,and one of the most profound physical results is the bulk-boundary correspondence.Recently a focus in topological physics is extending topological...Topological band theory has been studied for free fermions for decades,and one of the most profound physical results is the bulk-boundary correspondence.Recently a focus in topological physics is extending topological classification to mixed states.Here,we focus on Gaussian mixed states for which the modular Hamiltonians of the density matrix are quadratic free fermion models with U(1)symmetry and can be classified by topological invariants.The bulk-boundary correspondence is then manifested as stable gapless modes of the modular Hamiltonian and degenerate spectrum of the density matrix.In this article,we show that these gapless modes can be detected by the full counting statistics,mathematically described by a function introduced as F(θ).A divergent derivative atθ=πcan be used to probe the gapless modes in the modular Hamiltonian.Based on this,a topological indicator,whose quantization to unity senses topologically nontrivial mixed states,is introduced.We present the physical intuition of these results and also demonstrate these results with concrete models in both one-and two-dimensions.Our results pave the way for revealing the physical significance of topology in mixed states.展开更多
Shallow-water seabed reverberation presents a critical disturbance in acoustic propagation,affecting the target detection performance of monostatic sonar.This paper proposes a novel seabed reverberation model integrat...Shallow-water seabed reverberation presents a critical disturbance in acoustic propagation,affecting the target detection performance of monostatic sonar.This paper proposes a novel seabed reverberation model integrating Gaussian beam tracing with seabed scattering physics.The model synthesizes time-domain reverberation signals by superimposing scattering signals received across multiple propagation paths.It accurately resolves scattering signals along distinct paths and enables simulation of reverberation under diverse shallow-water environments by adjusting the marine parameters.Furthermore,we model the seabed reverberation signals in the time domain and the space domain for a cylindrical transceiver array,and provide a detailed statistical characterization of the simulated seabed reverberation signals.Finally,shallow-water seabed reverberation experiments were conducted with a cylindrical transceiver array.Comparisons between shallow-water seabed reverberation measurements and simulation estimates at various sites and transceiver depths demonstrate that the proposed seabed reverberation model can efficiently simulate shallow-water seabed reverberation.展开更多
The elastic properties of membranes are typically characterized by a few phenomenological parameters,including bending and Gaussian curvature moduli measuring the membrane rigidity against its deformation and topologi...The elastic properties of membranes are typically characterized by a few phenomenological parameters,including bending and Gaussian curvature moduli measuring the membrane rigidity against its deformation and topological change,as well as spontaneous curvature arising from the asymmetry between the two leaflets in the lipid bilayers.Though tether-based and fluctuationbased experiments are commonly utilized to measure the bending modulus,measuring the Gaussian curvature modulus and the spontaneous curvature of the membrane is considered to be much more difficult.In this paper,we study the buckling process of a circular membrane with nonzero spontaneous curvature under compressive stresses.It is found that when the stress exceeds a critical value,the circular membrane will transform from a spherical cap to a buckled shape,with its buckling degree enhanced with the increase of stress until its base is constricted to almost zero.As the stress-strain relationship of the buckled membrane strongly depends on the Gaussian curvature modulus and the spontaneous curvature,we therefore propose a method to determine the Gaussian curvature modulus and the spontaneous curvature simultaneously by measuring its stress-strain relationship during a buckling process.展开更多
基金Supported by the Zhejiang Provincial Natural Science Foundation of China (No.LR23F030002)。
文摘This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity prediction model is proposed to compensate for the unknown dynamic model,as the kinematic model cannot accurately characterize the motion characteristics of the robot.Then,by introducing the Lorentz function,the improved iterative linear quadratic regulator(iLQR) method is used to solve the nonlinear MPC(NMPC) controller with constraints.In addition,in order to reduce computational burden,a closed gradient calculation method is introduced to improve algorithm efficiency.Finally,the feasibility and effectiveness of this method are verified through simulation and experiment.
文摘In this paper,we propose a novel probabilistic method for predicting the undrained bearing capacity of spatially variable soils.Our approach combines a Gaussian process regression(GPR)-based surrogate model with random cell-based smoothed finite analysis.The Gaussian process emulator(GPE)serves as a statistical tool for making predictions from a data set.First,we validate the accuracy and efficiency of kinematic limit analysis using the cell-based smoothed finite element method(CS-FEM)against the standard finite element method(FEM)and edge-based smoothed FEM(ES-FEM).The numerical results demonstrate that the CS-FEM framework surpasses traditional numerical approaches,establishing its reliability in computing collapse loads.Subsequently,we conduct several hundred simulations to develop a surrogate model for predicting the undrained bearing capacity of shallow foundations.By utilizing various kernel functions,we enhance the accuracy of the GPE in these predictions.This method offers a practical and efficient solution,effectively addressing multiple uncertainties.Numerical results indicate that the GPE significantly boosts computational efficiency,achieving satisfactory outcomes within minutes compared to the days required for conventional simulations.Notably,the mean absolute percentage error(MAPE)decreases from 2.38%to 1.82%for rough foundations when employing Matérn and rational quadratic kernel functions,respectively.Additionally,combining different kernel functions further enhances the accuracy of collapse load predictions.
基金Project supported by the National Natural Science Foundation of China(No.12402033)the National Natural Science Foundation for Distinguished Young Scholars of China(No.52225211)。
文摘Many complex systems are frequently subject to the influence of uncertain disturbances,which can exert a profound effect on the critical transitions(CTs),potentially resulting in catastrophic consequences.Consequently,it is of uttermost importance to provide warnings for noise-induced CTs in various applications.Although capturing certain generic symptoms of transition behaviors from observational and simulated data poses a challenging problem,this work attempts to extract information regarding CTs from simulated data of a Gaussian white noise-induced tri-stable system.Using the extended dynamic mode decomposition(EDMD)algorithm,we initially obtain finite-dimensional approximations of both the stochastic Koopman operator and the generator.Subsequently,the drift parameters and the noise intensity within the system are identified from the simulated data.Utilizing the identified system,the parameter-dependent basin of the unsafe regime(PDBUR)is quantified,enabling data-driven early warning of Gaussian white noise-induced CTs.Finally,an error analysis is carried out to verify the effectiveness of the data-driven results.Our findings may serve as a paradigm for understanding and predicting noise-induced CTs in complex systems based on data.
文摘针对现有SLAM算法在渲染真实感、内存占用和复杂场景适应性方面的不足,提出了一种基于3D Gaussians Splatting的密集SLAM算法——TIGO-SLAM(tensor illumination and Gaussian optimization for indoor SLAM)。该算法集成了基于神经网络的张量光照模型、改进的高斯遮罩算法以及网格化神经场的几何和颜色属性表示,具体创新包括:a)基于神经网络的张量光照模型,增强镜面反射与漫反射效果,从而提升了渲染真实感;b)通过冗余高斯剔除机制改进高斯遮罩算法,有效降低了内存消耗并提高了实时性;c)结合网格化神经场的几何与颜色属性表示,采用优化的码本存储方式,显著提高了渲染性能和场景重建精度。实验结果表明,TIGO-SLAM在室内场景渲染、内存优化和复杂场景适应性方面均有显著提升,特别是在动态室内环境中的渲染和重建效果表现突出,为SLAM技术在资源受限设备上的应用提供了新的可能。
基金Project supported by the National Natural Science Foundation of China(Grant No.12104193)the Program of Zhongwu Young Innovative Talents of Jiangsu University of Technology(Grant No.20230013)。
文摘Quantum phase estimation based on Gaussian states plays a crucial role in many application fields.In this paper,we study the precision bound for the scheme using two-mode squeezed Gaussian states.The quantum Fisher information is calculated and its maximization is used to determine the optimal parameters.We find that two single-mode squeezed vacuum states are the optimal Gaussian inputs for a fixed two-mode squeezing process.The corresponding precision bound is sub-Heisenberg-limited and scales as N^(-1)/2.For practical purposes,we consider the effects originating from photon loss.The precision bound can still outperform the shot-noise limit when the lossy rate is below 0.4.Our work may demonstrate a significant and promising step towards practical quantum metrology.
基金supported by the National Natural Science Foundation of China(Grant Nos.12375236 and 12135009)the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant Nos.XDA25050100 and XDA25010100).
文摘The generation and reconnection of magneticflux ropes in a plasma irradiated by two Laguerre–Gaussian laser pulses with different frequen-cies and opposite topological charges are investigated numerically by particle-in-cell simulations.It is shown that twisted plasma currents and hence magneticflux ropes can be effectively generated as long as the laser frequency difference matches the electron plasma frequency.More importantly,subsequent reconnection of magneticflux ropes can occur.Typical signatures of magnetic reconnection,such as magnetic island formation and plasma heating,are identified in the reconnection of magneticflux ropes.Notably,it is found that a strong axial magneticfield can be generated on the axis,owing to the azimuthal current induced during the reconnection of the ropes.This indicates that in the reconnection of magneticflux ropes,the energy can be transferred not only from the magneticfield to the plasma but also from the plasma current back to the magneticfield.This work opens a new avenue to the study of magneticflux ropes,which helps in understanding magnetic topology changes,and resultant magnetic energy dissipation,plasma heating,and particle acceleration found in solarflares,and magnetic confinement fusion devices.
文摘We apply methods of algebraic integral geometry to prove a special case of the Gaussian kinematic formula of Adler-Taylor.The idea,suggested already by Adler and Taylor,is to view the GKF as the limit of spherical kinematic formulas for spheres of large dimension N and curvature1/N.
基金supported by the National Key R&D Program of China(Grant No.2023YFA1406702)the Innovation Program for Quantum Science and Technology 2021ZD0302005+1 种基金the XPLORER Prizepartly supported by the Start-up Research Fund of Southeast University(RF1028624190)。
文摘Topological band theory has been studied for free fermions for decades,and one of the most profound physical results is the bulk-boundary correspondence.Recently a focus in topological physics is extending topological classification to mixed states.Here,we focus on Gaussian mixed states for which the modular Hamiltonians of the density matrix are quadratic free fermion models with U(1)symmetry and can be classified by topological invariants.The bulk-boundary correspondence is then manifested as stable gapless modes of the modular Hamiltonian and degenerate spectrum of the density matrix.In this article,we show that these gapless modes can be detected by the full counting statistics,mathematically described by a function introduced as F(θ).A divergent derivative atθ=πcan be used to probe the gapless modes in the modular Hamiltonian.Based on this,a topological indicator,whose quantization to unity senses topologically nontrivial mixed states,is introduced.We present the physical intuition of these results and also demonstrate these results with concrete models in both one-and two-dimensions.Our results pave the way for revealing the physical significance of topology in mixed states.
基金The Youth Project of National Natural Science Foundation of China under contract No.12304507the Natural Science Foundation of Guangdong Province,China under contract No.2024A1515011512+2 种基金the Stable Supporting Fund of Acoustic Science and Technology Laboratory under contract No.JCKYS2025SSJS010the Fundamental Research Funds for the Central Universities under contract No.20720240108the Special Project for Marine Economy Development of Guangdong Province,China under contract No.GDNRC2023-47.
文摘Shallow-water seabed reverberation presents a critical disturbance in acoustic propagation,affecting the target detection performance of monostatic sonar.This paper proposes a novel seabed reverberation model integrating Gaussian beam tracing with seabed scattering physics.The model synthesizes time-domain reverberation signals by superimposing scattering signals received across multiple propagation paths.It accurately resolves scattering signals along distinct paths and enables simulation of reverberation under diverse shallow-water environments by adjusting the marine parameters.Furthermore,we model the seabed reverberation signals in the time domain and the space domain for a cylindrical transceiver array,and provide a detailed statistical characterization of the simulated seabed reverberation signals.Finally,shallow-water seabed reverberation experiments were conducted with a cylindrical transceiver array.Comparisons between shallow-water seabed reverberation measurements and simulation estimates at various sites and transceiver depths demonstrate that the proposed seabed reverberation model can efficiently simulate shallow-water seabed reverberation.
基金the financial support from the National Natural Science Foundation of China under Grant Nos.12174323 and 12474199Fundamental Research Funds for Central Universities of China under Grant No.20720240144(RM)111 project B16029。
文摘The elastic properties of membranes are typically characterized by a few phenomenological parameters,including bending and Gaussian curvature moduli measuring the membrane rigidity against its deformation and topological change,as well as spontaneous curvature arising from the asymmetry between the two leaflets in the lipid bilayers.Though tether-based and fluctuationbased experiments are commonly utilized to measure the bending modulus,measuring the Gaussian curvature modulus and the spontaneous curvature of the membrane is considered to be much more difficult.In this paper,we study the buckling process of a circular membrane with nonzero spontaneous curvature under compressive stresses.It is found that when the stress exceeds a critical value,the circular membrane will transform from a spherical cap to a buckled shape,with its buckling degree enhanced with the increase of stress until its base is constricted to almost zero.As the stress-strain relationship of the buckled membrane strongly depends on the Gaussian curvature modulus and the spontaneous curvature,we therefore propose a method to determine the Gaussian curvature modulus and the spontaneous curvature simultaneously by measuring its stress-strain relationship during a buckling process.
