arXiv subjects

Fang Wu

Publications and source records attributed to Fang Wu.

At least 91 records · Page 5Linked to original sources

arXiv2022

Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape

Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.

cs.RO↗

arXiv2021

Noise Error Pattern Generation Based on Successive Addition-Subtraction for Guessing Decoding

Guessing random additive noise decoding (GRAND) algorithm has emerged as an excellent decoding strategy that can meet both the high reliability and low latency constraints. This paper proposes a successive addition-subtraction algorithm to generate noise error permutations. A noise error patterns generation scheme is presented by embedding the "1" and "0" bursts alternately. Then detailed procedures of the proposed algorithm are presented, and its correctness is also demonstrated through theoretical derivations. The aim of this work is to provide a preliminary paradigm and reference for future research on GRAND algorithm and hardware implementation.

cs.IT↗

arXiv2020

Built-in Electric-Field-Control of Magnetic Coupling in van der Waals semiconductors

Electrical control of magnetism in a two-dimensional (2D) semiconductor is of great interest for emerging nanoscale low-dissipation spintronic devices. Here, we propose a general approach of tuning magnetic coupling and anisotropy of a van der Waals (vdW) 2D magnetic semiconductor via a built-in electric field generated by the adsorption of superatomic ions. Using first-principles calculations, we predict a significant enhancement of ferromagnetic (FM) coupling and a great change of magnetic anisotropy in 2D semiconductors when they are sandwiched between superatomic cations and anions. The magnetic coupling is directly affected by the built-in electric field, which lifts the energy levels of mediated ligands' orbitals and enhances the super-exchange interactions. These findings will be of interest for ionic gating controlled ferromagnets and magnetoelectronics based on vdW 2D semiconductors.

cond-mat.mtrl-sci↗

arXiv2019

Features of Structure and Absorption in the Jet-Launching Region of M87

M87 is one of the best available source for studying the AGN jet-launching region. To enrich our knowledge of this region, with quasi-simultaneous observations using VLBA at 22, 43 and 86 GHz, we capture the images of the radio jet in M87 on a scale within several thousand R s . Based on the images, we analyze the transverse jet structure and obtain the most accurate spectral-index maps of the jet in M87 so far, then for the first time, we compare the results of the two analyses and find a spatial association between the jet collimations and the local enhancement of the density of external medium in the jet-launching region. We also find the external medium is not uniform, and greatly contributes to the free-free absorption in this region. In addition, we find for the jet in M87, its temporal morphology in the launching region may be largely affected by the local, short-lived kink instability growing in itself.

astro-ph.GA↗

arXiv2019

Space very long baseline interferometry in China

Space very long baseline interferometry (VLBI) has unique applications in high-resolution imaging of fine structure of astronomical objects and high-precision astrometry due to the key long space-Earth or space-space baselines beyond the Earth's diameter. China has been actively involved in the development of space VLBI in recent years. This review briefly summarizes China's research progress in space VLBI and the future development plan.

astro-ph.IM↗

arXiv2019

Collision-aware Task Assignment for Multi-Robot Systems

We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and introduce a binary decision variable into the local reward function for task bidding. We further improve CATA by implementing a receding collision horizon to address the stopping robot scenario, i.e. when robots are confined to their task location and become static obstacles to other moving robots. The auction-based algorithm encourages the robots to bid for tasks with collision mitigation considerations. We validate the improved task assignment solution with both simulation and experimental results, which show significant reduction of overlapping paths as well as deadlocks.

cs.RO↗

arXiv2012

Kinematics of the Compact Symmetric Object OQ 208 revisited

Aims. A long timeline kinematic study of the archetypal CSO OQ 208 sheds light on the physical properties of the most compact radio sources. Methods. Archival data from the VLBA at 15 GHz over a time span of 13.6 yr are used to investigate the kinematics of the radio source. The flux density monitoring data obtained at the Michigan 26-meter radio telescope are also used as supplementary information. Results. At 8.4 and 15 GHz, the two lobes are resolved into two sub-components, identified as hotspots. A knotty jet is linked with the NE hotspot and traces back toward the geometric center. The core is too weak to be detected. Significant flux density variation is found in the primary hotspots with the maximum level of 62% (NE1) and 19% (SW1). The peak in the flux density of NE1 leads that of SW1 by approximately 5.00 yr, suggesting that the northeast lobe is advancing and the southwest lobe is receding. This light travel difference indicates a radial distance difference between the two hotspots of 1.53 pc, which indicates an inclination angle of about 80.8 degree between the radio jet and the line of sight. The angular separation rate between NE1 and SW1 is 0.027 mas/yr (or 0.133 c). The inner jet knot moves at 0.047 mas/yr (or 0.230 c), about 3.5 times the hotspot advancing speed. Conclusions. The large viewing angle and the modest jet speed suggest a mildly relativistic jet. The jet axis is close to the plane of the sky. The separation rate and the distance between the two primary hotspots result in a kinematic age of 255$\pm$17 yr, confirming that OQ 208 is indeed a young radio source. In addition to the hotspot advancing motions, sideways motions provide evidence that the lobes are obstructed by the external interstellar medium.

astro-ph.CO↗

arXiv2011

VLBI observations of 10 CSO candidates: expansion velocities of hot spots

Observations of ten Compact Symmetric Objects ({\rm CSO}) candidates have been made with the Very Long Baseline Array at 8.4 GHz in 2005 and with a combined Chinese and European VLBI array at 8.4 GHz in 2009. The 2009 observations incorporate for the first time the two new Chinese telescopes at Miyun and Kunming for international astrophysical observations. The observational data, in combination with archival VLBA data from previous epochs, have been used to derive the proper motions of the VLBI components. Because of the long time baseline of $\sim$16 years of the VLBI data sets, the expansion velocities of the hot spots can be measured at an accuracy as high as $\sim$1.3 $μ$as yr$^{-1}$. Six of the ten sources are identified as CSOs with a typical double or triple morphology on the basis of both spectral index maps and their mirror-symmetry of proper motions of the terminal hot spots. The compact double source J1324+4048 is also identified as a CSO candidate. Among the three remaining sources, J1756+5748 and J2312+3847 are identified as core-jet sources with proper motions of their jet components relating to systemic source expansion. The third source J0017+5312 is likely also a core-jet source, but a robust detection of a core is needed for an unambiguous identification. The kinematic ages of the CSOs derived from proper motions range from 300 to 2500 years. The kinematic age distribution of the CSOs confirm an overabundance of compact young CSOs with ages less than 500 years. CSOs with known kinematic ages may be used to study the dynamical evolution of extragalactic radio sources at early stages.

astro-ph.CO↗

arXiv2010

Human Speed-Accuracy Tradeoffs in Search

When foraging for information, users face a tradeoff between the accuracy and value of the acquired information and the time spent collecting it, a problem which also surfaces when seeking answers to a question posed to a large community. We empirically study how people behave when facing these conflicting objectives using data from Yahoo Answers, a community driven question-and-answer site. We first study how users behave when trying to maximize the amount of acquired information while minimizing the waiting time. We find that users are willing to wait longer for an additional answer if they have received a small number of answers. We then assume that users make a sequence of decisions, deciding to wait for an additional answer as long as the quality of the current answer exceeds some threshold. The resulting probability distribution for the number of answers that a question gets is an inverse Gaussian, a fact that is validated by our data.

cs.CY↗

arXiv2010

Harvesting Collective Intelligence: Temporal Behavior in Yahoo Answers

When harvesting collective intelligence, a user wishes to maximize the accuracy and value of the acquired information without spending too much time collecting it. We empirically study how people behave when facing these conflicting objectives using data from Yahoo Answers, a community driven question-and-answer site. We take two complementary approaches. We first study how users behave when trying to maximize the amount of the acquired information, while minimizing the waiting time. We identify and quantify how question authors at Yahoo Answers trade off the number of answers they receive and the cost of waiting. We find that users are willing to wait more to obtain an additional answer when they have only received a small number of answers; this implies decreasing marginal returns in the amount of collected information. We also estimate the user's utility function from the data. Our second approach focuses on how users assess the qualities of the individual answers without explicitly considering the cost of waiting. We assume that users make a sequence of decisions, deciding to wait for an additional answer as long as the quality of the current answer exceeds some threshold. Under this model, the probability distribution for the number of answers that a question gets is an inverse Gaussian, which is a Zipf-like distribution. We use the data to validate this conclusion.

cs.CY↗

arXiv2009

Feedback loops of attention in peer production

A significant percentage of online content is now published and consumed via the mechanism of crowdsourcing. While any user can contribute to these forums, a disproportionately large percentage of the content is submitted by very active and devoted users, whose continuing participation is key to the sites' success. As we show, people's propensity to keep participating increases the more they contribute, suggesting motivating factors which increase over time. This paper demonstrates that submitters who stop receiving attention tend to stop contributing, while prolific contributors attract an ever increasing number of followers and their attention in a feedback loop. We demonstrate that this mechanism leads to the observed power law in the number of contributions per user and support our assertions by an analysis of hundreds of millions of contributions to top content sharing websites Digg.com and Youtube.com.

cs.CY↗

arXiv2009

Persistence and Success in the Attention Economy

A hallmark of the attention economy is the competition for the attention of others. Thus people persistently upload content to social media sites, hoping for the highly unlikely outcome of topping the charts and reaching a wide audience. And yet, an analysis of the production histories and success dynamics of 10 million videos from \texttt{YouTube} revealed that the more frequently an individual uploads content the less likely it is that it will reach a success threshold. This paradoxical result is further compounded by the fact that the average quality of submissions does increase with the number of uploads, with the likelihood of success less than that of playing a lottery.

cs.CY↗

arXiv2008

Social networks that matter: Twitter under the microscope

Scholars, advertisers and political activists see massive online social networks as a representation of social interactions that can be used to study the propagation of ideas, social bond dynamics and viral marketing, among others. But the linked structures of social networks do not reveal actual interactions among people. Scarcity of attention and the daily rythms of life and work makes people default to interacting with those few that matter and that reciprocate their attention. A study of social interactions within Twitter reveals that the driver of usage is a sparse and hidden network of connections underlying the declared set of friends and followers.

cs.CY↗

arXiv2008

Crowdsourcing, Attention and Productivity

The tragedy of the digital commons does not prevent the copious voluntary production of content that one witnesses in the web. We show through an analysis of a massive data set from \texttt{YouTube} that the productivity exhibited in crowdsourcing exhibits a strong positive dependence on attention, measured by the number of downloads. Conversely, a lack of attention leads to a decrease in the number of videos uploaded and the consequent drop in productivity, which in many cases asymptotes to no uploads whatsoever. Moreover, uploaders compare themselves to others when having low productivity and to themselves when exceeding a threshold.

cs.CY↗

arXiv2008

Hyperconjugative Effect on the Electronic Wavefunctions of Ethanol

Hyperconjugation is a basic conception of chemistry. Its straightforward effect is exhibited by the spatial delocalization characteristics of the electron density distributions or wavefunctions. Such effects on the electron wavefunctions of the highest-occupied molecular orbitals (HOMO) of two ethanol conformers are demonstrated with electron momentum spectroscopy together with natural bond orbital analyses, exhibiting the distinctly different symmetries of the HOMO wavefunctions in momentum space.

physics.chem-ph↗

arXiv2008

Public Discourse in the Web Does Not Exhibit Group Polarization

We performed a massive study of the dynamics of group deliberation among several websites containing millions of opinions on topics ranging from books to media. Contrary to the common phenomenon of group polarization observed offline, we measured a strong tendency towards moderate views in the course of time. This phenomenon possibly operates through a self-selection bias whereby previous comments and ratings elicit contrarian views that soften the previous opinions.

cs.CY↗

arXiv2008

Popularity, Novelty and Attention

We analyze the role that popularity and novelty play in attracting the attention of users to dynamic websites. We do so by determining the performance of three different strategies that can be utilized to maximize attention. The first one prioritizes novelty while the second emphasizes popularity. A third strategy looks myopically into the future and prioritizes stories that are expected to generate the most clicks within the next few minutes. We show that the first two strategies should be selected on the basis of the rate of novelty decay, while the third strategy performs sub-optimally in most cases. We also demonstrate that the relative performance of the first two strategies as a function of the rate of novelty decay changes abruptly around a critical value, resembling a phase transition in the physical world. 1

cs.CY↗

arXiv2007

Novelty and Collective Attention

The subject of collective attention is central to an information age where millions of people are inundated with daily messages. It is thus of interest to understand how attention to novel items propagates and eventually fades among large populations. We have analyzed the dynamics of collective attention among one million users of an interactive website -- \texttt{digg.com} -- devoted to thousands of novel news stories. The observations can be described by a dynamical model characterized by a single novelty factor. Our measurements indicate that novelty within groups decays with a stretched-exponential law, suggesting the existence of a natural time scale over which attention fades.

cs.CY↗