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Jiajun Wang

Publications and source records attributed to Jiajun Wang.

At least 55 records · Page 3Linked to original sources
arXiv2023

Energy-Efficient Routing Protocol Based on Multi-Threshold Segmentation in Wireless Sensors Networks for Precision Agriculture

Wireless sensor networks (WSNs), one of the fundamental technologies of the Internet of Things (IoT), can provide sensing and communication services efficiently for IoT-based applications, especially energy-limited applications. Clustering routing protocol plays an important role in reducing energy consumption and prolonging network lifetime. The cluster formation and cluster head selection are the key to improving the performance of the clustering routing protocol. An energy-efficient routing protocol based on multi-threshold segmentation (EERPMS) was proposed in this paper to improve the rationality of cluster formation and cluster head selection. In the stage of cluster formation, inspired by multi-threshold image segmentation, an innovative node clustering algorithm was developed. In the stage of cluster head selection, aiming at minimizing the network energy consumption, a calculation theory of the optimal number and location of cluster heads was established. Furthermore, a novel cluster head selection algorithm was constructed based on the residual energy and optimal location of cluster heads. Simulation results show that EERPMS can improve the distribution uniformity of cluster heads, prolong the network lifetime and save up to 64.50%, 58.60%, and 56.15% network energy as compared to RLEACH, CRPFCM, and FIGWO protocols respectively.

cs.NI↗
arXiv2022

Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot

For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of robots. However, current WBC methods have not considered the intrinsic features of parallel robots, especially motion/force transmissibility (MFT). This paper proposes an MFT-enhanced WBC scheme for parallel-legged robots. Introducing the performance indices of MFT into a WBC is challenging due to the nonlinear relationship between MFT indices and the robot configuration. To overcome this challenge, we establish the MFT preferable space of the robot offline and formulate it as a polyhedron in the joint space at the acceleration level. Then, the WBC employs the polyhedron as a soft constraint. As a result, the robot possesses high-speed and high-acceleration capabilities by satisfying this constraint. The offline preprocessing relieves the online computation burden and helps the WBC achieve a 1kHz servo rate. Finally, we validate the performance and robustness of the proposed method via simulations and experiments on a parallel-legged bipedal robot.

cs.RO↗
arXiv2021

Maximal systole of hyperbolic surface with largest $S^3$ extendable abelian symmetry

We give the formula for the maximal systole of the surface admits the largest $S^3$-extendable abelian group symmetry. The result we get is $2\mathrm{arccosh} K$. Here \begin{eqnarray*} K &=& \sqrt[3]{\frac{1}{216}L^3 +\frac{1}{8} L^2 + \frac{5}{8} L - \frac{1}{8} + \sqrt{\frac{1}{108}L(L^2+18L+27)} } & & + \sqrt[3]{\frac{1}{216}L^3 +\frac{1}{8} L^2 + \frac{5}{8} L - \frac{1}{8} - \sqrt{\frac{1}{108}L(L^2+18L+27)} } & & + \frac{L+3}{6}. \end{eqnarray*} and $L= 4\cos^2 \fracπ{g-1}$.

math.GT↗
arXiv2021

Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition

Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of whole-body control (WBC). Many methods focused on guaranteeing the control continuity during task priority transition, however either increased the computation consumption or sacrificed the accuracy of tasks inevitably. This work formulates the WBC problem with task priority transition as an Hierarchical Quadratic Programming (HQP) with Recursive Hierarchical Projection (RHP) matrices. The tasks of each level are solved recursively through HQP. We propose the RHP matrix to form the continuously changing projection of each level so that the task priority transition is achieved without increasing computation consumption. Additionally, the recursive approach solves the WBC problem without losing the accuracy of tasks. We verify the effectiveness of this scheme by the comparative simulations of the reactive collision avoidance through multi-tasks priority transitions.

cs.RO↗
arXiv2021

Mixed Control for Whole-Body Compliance of a Humanoid Robot

The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can oscillate when it is close to the boundary of constraints. It is because the abrupt hit of the bounds gives rise to unrealisable jerks and even infeasible solutions. This paper proposes the mixed control, which blends the single-axis model predictive control (MPC) and proportional derivate (PD) control for the whole-body compliance to overcome these deficiencies. The MPC predicts the distances between the bounds and the control target of the critical tasks, and it provides smooth and feasible solutions by prediction and optimisation in advance. However, applying MPC will inevitably increase the computation time. Therefore, to achieve a 500 Hz servo rate, the PD controllers still regulate other tasks to save computation resources. Also, we use a more efficient null space projection (NSP) whole-body controller instead of the HQP and distribute the single-axis MPCs into four CPU cores for parallel computation. Finally, we validate the desired capabilities of the proposed strategy via Simulations and the experiment on the humanoid robot Walker X.

cs.RO↗
arXiv2021

Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware

Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical optimization has been generally accepted and utilized in torque-controlled robots. A good hierarchy is the prerequisite for WBC and can be predefined according to prior knowledge. However, the real-time computation would be problematic in the physical applications considering the computational complexity of WBC. For robots with proprioceptive actuation, the joint friction in gear reducer would also degrade the torque tracking performance. In our paper, a reasonable hierarchy of tasks and constraints is first customized for robot dynamic balancing. Then a real-time WBC is implemented via a computationally efficient WBC software. Such a method is solved on a modular master control system UBTMaster characterized by the real-time communication and powerful computing capability. After the joint friction being well covered by the model identification, extensive experiments on various balancing scenarios are conducted on a humanoid Walker3 with proprioceptive actuation. The robot shows an outstanding balance performance even under external impulses as well as the two feet of the robot suffering the inclination and shift disturbances independently. The results demonstrate that with the strict hierarchy, real-time computation and joint friction being handled carefully, the robot with proprioceptive actuation can manage the dynamic physical interactions with the unstructured environments well.

cs.RO↗
arXiv2020

Routing of valley photons in a WS2 monolayer via delocalized Bloch modes of in-plane inversion-symmetry broken photonic crystal slabs

The valleys of two-dimensional transition metal dichalcogenides (TMDCs) offer a new degree of freedom for information processing. To take advantage of this valley degree of freedom, on one hand, it is feasible to control valleys by utilizing different external stimuli like optical and electric fields. On the other hand, nanostructures are also used to separate the valleys by near field coupling. However, for both above methods, either required low-temperature environment or low degree of coherence properties limit their further applications. Here, we demonstrate all-dielectric photonic crystal (PhC) slabs without in-plane inversion symmetry (C2 symmetry) could separate and route valley photons in a WS2 monolayer at room temperature. Coupling with circularly polarized photonic Bloch modes of such PhC slabs, valley photons emitted by a WS2 monolayer are routed directionally and efficiently separated in the far field. In addition, the far-field emission is directionally enhanced and with long-distance spatial coherence property.

physics.optics↗
arXiv2019

Generating optical vortex beams by momentum-space polarization vortices centered at bound states in the continuum

An optical vortex (OV) is a beam with spiral wave front and screw phase dislocation. This kind of beams is attracting rising interest in various fields. Here we theoretically proposed and experimentally realized a novel but easy approach to generate optical vortices. We leverage the inherent topological vortex structures of polarization around bound states in the continuum (BIC) in the momentum space of two dimensional periodic structures, e.g. photonic crystal slabs, to induce Pancharatnam-Berry phases to the beams. This new class of OV generators operates in the momentum space, meaning that there is no real-space center of structure. Thus, not only the fabrication but also the practical alignment would be greatly simplified. Any even order of OV, which is actually a quasi-non-diffractive high-order quasi-Bessel beam, at any desired working wavelength could be achieved in principle. The proposed approach expands the application of bound states in the continuum and topological photonics.

physics.optics↗
arXiv2019

Quasi-homomorphisms on mapping class groups vanishing on a handlebody group

We construct infinitely many linearly independent quasi-homomorphisms on the mapping class group of a Riemann surface with genus at least two which vanish on a handlebody subgroup. As a corollary, we disprove a conjecture of Reznikov on bounded width in Heegaard splittings. Another corollary is that there are infinitely many linearly independent quasi-invariants on the Heegaard splittings of three-manifolds.

math.GT↗
arXiv2019

Circularly polarized states spawning from bound states in the continuum

Bound states in the continuum in periodic photonic systems like photonic crystal slabs are proved to be accompanied by vortex polarization singularities on the photonic bands in the momentum space. The winding structures of polarization states not only widen the field of topological physics but also show great potential that such systems could be applied in polarization manipulating. In this work, we report the phenomenon that by in-plane inversion ($C_2$) symmetry breaking, pairs of circularly polarized states could spawn from the eliminated Bound states in the continuum. Along with the appearance of the circularly polarized states as the two poles of the Poincaré sphere together with linearly polarized states covering the equator, full coverage on the Poincaré sphere could be realized. As an application, ellipticity modulation of linear polarization is demonstrated in the visible frequency range. This phenomenon provides new degree of freedom in modulating polarization.

physics.optics↗
arXiv2018

Observation of optical states below light cone with compound lattices

For optical systems, states inside the light cone could be detected by far-field measurement, while those below the light cone are not detectable by far-field measurement. A new method for far-field detection has been developed for observing states below the light cone with compound lattices. The basic mechanism involved is that periodic weak scattering leads to band folding, making the states out of the light cone to occur inside. By using polarization-resolved momentum-space imaging spectroscopy the band structures and iso-frequency contours of plasmonic lattices with different dimensions and symmetries are experimentally mapped out, in good agreement with the simulation.

physics.optics↗
arXiv2016

Highly Efficient Ion Rejection by Graphene Oxide Membranes via Ion-controlling Interlayer Spacing

Because they may provide ultrathin, high-flux, and energy-efficient membranes for precise ionic and molecular sieving in aqueous solution, GO membranes (partially oxidized, stacked sheets of graphene) have shown great potential in water desalination and purification, gas and ion separation, biosensors, proton conductors, lithium-based batteries and super-capacitors. Unlike carbon nanotube (CNT) membranes, in which the nanotube pores have fixed sizes, the pores of GO membranes - the interlayer spacing between GO sheets - are of variable size. This presents a challenge for using GO membranes for filtration. Despite the great efforts to tune and fix the interlayer spacing, it remains difficult both to reduce the interlayer spacing sufficiently to exclude small ions while keeping this separation constant against the tendency of GO membranes to swell when immersed in aqueous solution, which greatly affects the applications of GO membranes. Here, we demonstrate experimentally that highly efficient and selective ion rejection by GO membranes can be readily achieved by controlling the interlayer spacing of GO membranes using cations (K+, Na+, Ca2+, Li+ and Mg2+) themselves. The interspacing can be controlled with precision as small as 1 A, and GO membranes controlled by one kind of cation can exclude other cations with a larger hydrated volume, which can only be accommodated with a larger interlayer spacing. First-principles calculations reveal that the strong noncovalent cation-pi interactions between hydrated cations in solution and aromatic ring structures in GO are the cause of this unexpected behavior. These findings open up new avenues for using GO membranes for water desalination and purification, lithium-based batteries and super-capacitors, molecular sieves for separating ions or molecules, and many other applications.

cond-mat.mtrl-sci↗
arXiv2016

A geometric iterated function system on triangles

We construct a converging geometric iterated function system on the moduli space of ordered triangles, for which the involved functions have geometric meanings and contain a non-contraction map under the natural metric.

math.DS↗
arXiv2016

Counterexamples to the quadrisecant approximation conjecture

A quadrisecant of a knot is a straight line intersecting the knot at four points. If a knot has finitely many quadrisecants, one can replace each subarc between two adjacent secant points by the line segment between them to get the quadrisecant approximation of the original knot. It was conjectured that the quadrisecant approximation is always a knot with the same knot type as the original knot. We show that every knot type contains two knots, the quadrisecant approximation of one knot has self intersections while the quadrisecant approximation of the other knot is a knot with different knot type.

math.GT↗
arXiv2016

On the skein polynomial for links

We give characterizations of the skein polynomial for links (as well as Jones and Alexander-Conway polynomials derivable from it), avoiding the usual "smoothing of a crossing" move. As by-products we have characterizations of these polynomials for knots, and for links with any given number of components.

math.GT↗
arXiv2011

The support genus of certain Legendrian knots

In this paper, the support genus of all Legendrian right handed trefoil knots and some other Legendrian knots is computed. We give examples of Legendrian knots in the three-sphere with the standard contact structure which have positive support genus with arbitrarily negative Thurston-Benniquin invariant. This answers a question in Onaran.

math.GT↗
arXiv2009

Cosmetic surgeries on genus one knots

In this paper, we prove that there are no truly cosmetic surgeries on genus one classical knots. If the two surgery slopes have the same sign, we give the only possibilities of reflectively cosmetic surgeries. The result is an application of Heegaard Floer theory and number theory.

math.GT↗