arXiv subjects

Jiawei Hu

Publications and source records attributed to Jiawei Hu.

At least 55 records · Page 3Linked to original sources

arXiv2024

Forward Kinematics of Object Transporting by a Multi-Robot System with a Deformable Sheet

We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible positions of the object on the sheet for a given formation of the multi-robot system. A complete forward kinematics (FK) method is proposed for object handling by an $N$-mobile robot team with a deformable sheet. Based on the virtual variable cables model (VVCM), a constrained quadratic problem (CQP) is formulated by combining the geometric constraints and minimum potential energy conditions of the system. Analytical solutions to the CQP are presented and then further verified with the force closure condition. We present an FK algorithm based on the FK method to obtain all possible solutions with the given initial sheet shape and the robot team formation. We demonstrate the effectiveness, completeness, and efficiency of the FK algorithm with experimental results and case study examples.

cs.RO↗

arXiv2023

Hamiltonian mechanics and Lie algebroid connections

We develop a new, coordinate-free formulation of Hamiltonian mechanics on the dual of a Lie algebroid. Our approach uses a connection, rather than coordinates in a local trivialization, to obtain global expressions for the horizontal and vertical dynamics. We show that these dynamics can be obtained in two equivalent ways: (1) using the canonical Lie-Poisson structure, expressed in terms of the connection; or (2) using a novel variational principle that generalizes Hamilton's phase space principle.

math.SG↗

arXiv2023

Resonance interaction due to quantum coherence

The interaction energy between two atoms is crucially dependent on the quantum state of the two-atom system. In this paper, it is demonstrated that a steady resonance interaction energy between two atoms exists when the atoms are in a certain type of coherent superposition of single-excitation states. The interaction is tree-level classical in the sense of the Feynman diagrams. A quantity called quantum classicality is defined in the present paper, whose nonzero-ness ensures the existence of this interaction. The dependence of the interatomic interaction on the quantum nature of the state of the two-atom system may potentially be tested with Rydberg atoms.

quant-ph↗

arXiv2022

Decentralized Coverage Path Planning with Reinforcement Learning and Dual Guidance

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding of both the complicated environments and cooperative agents intent is crucial. Unfortunately, existing works commonly consider only part of these factors, resulting in imbalanced subareas or unnecessary overlaps. To tackle this issue, we introduce a Decentralized reinforcement learning framework with dual guidance to train each agent to solve the decentralized multiple coverage path planning problem straightly through the environment states. As distributed robots require others intentions to perform better coverage efficiency, we utilize two guidance methods, artificial potential fields and heuristic guidance, to include and integrate others intentions into observations for each robot. With our constructed framework, results have shown our agents successfully learn to determine their own subareas while achieving full coverage, balanced subareas and low overlap rates. We then implement spanning tree cover within those subareas to construct actual routes for each robot and complete given coverage tasks. Our performance is also compared with the state of the art decentralized method showing at most 10 percent lower overlap rates while performing high efficiency in similar environments.

cs.RO↗

arXiv2022

A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging to determine whether the robots can pass through an obstructed environment under formation constraints, especially in an obstacle-rich environment. Furthermore, is there an optimal path for the robots? To deal with the two problems, a novel graphbased motion planner is proposed in this paper. A mapping between workspace and configuration space of multi-mobile robot systems is first built, where valid configurations can be acquired to satisfy both formation constraints and collision avoidance. Then, an undirected graph is generated by verifying connectivity between valid configurations. The breadth-first search method is employed to answer the question of whether there is a feasible path on the graph. Finally, an optimal path will be planned on the updated graph, considering the cost of path length and formation preference. Simulation results show that the planner can be applied to get optimal motions of robots under formation constraints in obstacle-rich environments. Additionally, different constraints are considered.

cs.RO↗

arXiv2022

Multi-Robot Object Transport Motion Planning with a Deformable Sheet

Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet interactions. We present a computational model and algorithm to capture the object position on the deformable sheet with changing robotic team formations. A virtual variable cables model (VVCM) is proposed to simplify the modeling of the robot-sheet-object system. With the VVCM, we further present a motion planner for the robotic team to transport the object in a three-dimensional (3D) cluttered environment. Simulation and experimental results with different robot team sizes show the effectiveness and versatility of the proposed VVCM. We also compare and demonstrate the planning results to avoid the obstacle in 3D space with the other benchmark planner.

cs.RO↗

arXiv2022

Fast sparse flow field prediction around airfoils via multi-head perceptron based deep learning architecture

In order to obtain the information about flow field, traditional computational fluid dynamics methods need to solve the Navier-Stokes equations on the mesh with boundary conditions, which is a time-consuming task. In this work, a data-driven method based on convolutional neural network and multi-head perceptron is used to predict the incompressible laminar steady sparse flow field around the airfoils. Firstly, we use convolutional neural network to extract the geometry parameters of the airfoil from the input gray scale image. Secondly, the extracted geometric parameters together with Reynolds number, angle of attack and flow field coordinates are used as the input of the multi-layer perceptron and the multi-head perceptron. The proposed multi-head neural network architecture can predict the aerodynamic coefficients of the airfoil in seconds. Furthermore, the experimental results show that for sparse flow field, multi-head perceptron can achieve better prediction results than multi-layer perceptron.

physics.flu-dyn↗

arXiv2022

Spectral-Loc: Indoor Localization using Light Spectral Information

For indoor settings, we investigate the impact of location on the spectral distribution of the received light, i.e., the intensity of light for different wavelengths. Our investigations confirm that even under the same light source, different locations exhibit slightly different spectral distribution due to reflections from their localised environment containing different materials or colours. By exploiting this observation, we propose Spectral-Loc, a novel indoor localization system that uses light spectral information to identify the location of the device. With spectral sensors finding their way in latest products and applications, such as white balancing in smartphone photography, Spectral-Loc can be readily deployed without requiring any additional hardware or infrastructure. We prototype Spectral-Loc using a commercial-off-the-shelf light spectral sensor, AS7265x, which can measure light intensity over 18 different wavelength sub-bands. We benchmark the localisation accuracy of Spectral-Loc against the conventional light intensity sensors that provide only a single intensity value. Our evaluations over two different indoor spaces, a meeting room and a large office space, demonstrate that use of light spectral information significantly reduces the localization error for the different percentiles.

cs.HC↗

arXiv2022

Entanglement generation for uniformly accelerated atoms assisted by environment-induced interatomic interaction and the loss of the anti-Unruh effect

We study the influence of the environment-induced interatomic interaction, which is usually neglected, on the entanglement dynamics of two uniformly accelerated atoms coupled with fluctuating massless scalar fields in the Minkowski vacuum. When the two-atom system is initially prepared in a separable state such that the two atoms are in the ground and excited states respectively, the environment-induced interatomic interaction assists entanglement generation, in the sense that the parameter space of acceleration and interatomic separation that allows entanglement generation is enlarged, the rate of entanglement generation at the initial time is enhanced, and the maximum of concurrence generated during evolution is increased compared with when the environment-induced interaction is neglected. Remarkably, the rate of entanglement generation at the initial time and the maximal concurrence generated during evolution decrease monotonically with the acceleration, in contrast to that they exhibit a nonmonotonic behavior as the acceleration varies when the environment-induced interatomic interaction is neglected. In other words, the anti-Unruh phenomenon in terms of the entanglement generation is deprived of by the consideration of the environment-induced interatomic interaction.

quant-ph↗

arXiv2021

Coexisting Ferromagnetic-antiferromagnetic Phase and Manipulation in Magnetic Topological Insulator MnBi4Te7

Magnetic topological insulators (MTIs) have received a lot of attention due to the existence of various quantum phenomena such as quantum anomalous Hall effect (QAHE) and topological magnetoelectric effect, etc. The intrinsic superlattice-like layered MTIs, MnBi2Te4/(Bi2Te3)n, have been extensively investigated mainly through the transport measurements, while the direct investigation of their superlattice-sensitive magnetic behaviors is relatively rare. Here, we report a microscopic real-space investigation of magnetic phase behaviors in MnBi4Te7 using cryogenic magnetic force microscopy (MFM). The intrinsic robust A-type antiferromagnetic (AFM), and emerged surface spin-flop (SSF), canted AFM (CAFM), ferromagnetic (FM)+CAFM, forced FM phases are sequentially visualized via the increased external magnetic field, in agreement with the metamagnetic behavior in the M-H curve. The temperature-dependent magnetic phase evolution behaviors are further investigated to obtain the complete H-T phase diagram of MnBi4Te7. The tentative local phase manipulation via the stray field of the magnetic tip is demonstrated by transforming the AFM to FM phase in its surface layers of MnBi4Te7. Our study the not only provide key real-space ingredients for understanding their complicated magnetic, electronic, and topological properties of these intrinsic MTIs, but also suggest new directions for manipulating spin textures and locally controlling their exotic properties.

cond-mat.mtrl-sci↗

arXiv2021

Induced quantum gravitational interaction between two objects with permanent quadrupoles in external gravitational fields

We investigate, in the framework of linearized quantum gravity, the induced quantum gravitational interaction between two ground-state objects with permanent quadrupole moments, which are subjected to an external gravitational radiation field. Compared with the nonpolar case, there exists an additional term in the leading-order field-induced interobject interaction between two polar objects. This term arises when a real graviton is scattered by the same object center with coupling between the two objects occurring via the exchange of a single virtual graviton, and the interaction is thus relevant to the number density of gravitons, the frequency and polarization of the external gravitational field, as well as the permanent quadrupoles of the objects. Due to the existence of such an additional term, the field-induced quantum gravitational interaction between two polar objects can be significantly different from that between nonpolar ones when the interobject distance is much smaller than the wavelength of the external gravitational radiation field. Although we model the external gravitational radiation as a quantized monochromatic gravitational wave with a certain wave vector and polarization for simplicity, it is possible to generalize to more realistic situations, such as the case of a stochastic background of gravitational radiation.

gr-qc↗

arXiv2021

Entanglement dynamics for Unruh-DeWitt detectors interacting with massive scalar fields: The Unruh and anti-Unruh effects

We study, in the framework of open quantum systems, the entanglement dynamics for a quantum system composed of two uniformly accelerated Unruh-Dewitt detectors interacting with a bath of massive scalar fields in the Minkowski vacuum. We find that the entanglement evolution for the quantum system coupled with massive fields is always slower compared with that of the one coupled with massless fields, and this time-delay effect brought by the field being massive can however be counteracted by a large enough acceleration, in contrast to the case of a static quantum system in a thermal bath, where this time delay is not affected by the temperature. Remarkably, the maximal concurrence of the quantum system generated during evolution may increase with acceleration for any inter-detector separation while that for static ones in a thermal bath decreases monotonically with temperature, and this can be considered as an anti-Unruh effect in terms of the entanglement generated.

gr-qc↗

arXiv2021

Entanglement dynamics for two-level quantum systems coupled with massive scalar fields

Entanglement is essential in quantum information science. Typically, the inevitable coupling between quantum systems and environment inhibits entanglement from being created between long-distance subsystems and being maintained for a long time. In this paper, we show that when the environment is composed of a bath of massive scalar fields, the region of the separation within which entanglement can be generated is significantly enlarged, and the decay rate of entanglement is significantly slowed down compared with those in the massless case, when the mass of the field $m$ is smaller than but close to the transition frequency of the qubits $ω$. When $m\geqω$, the initial entanglement can be maintained for an arbitrarily long time, regardless of the environmental temperature. Therefore, in principle, it is possible to achieve long-distance entanglement generation and long-lived entanglement by manipulating the energy level spacing of the two-level systems with respect to the mass of the field.

quant-ph↗

arXiv2021

High frequency background gravitational waves from spontaneous emission of gravitons by hydrogen and helium

A direct consequence of quantization of gravity would be the existence of gravitons. Therefore, spontaneous transition of an atom from an excited state to a lower-lying energy state accompanied with the emission of a graviton is expected. In this paper, we take the gravitons emitted by hydrogen and helium in the Universe after recombination as a possible source of high frequency background gravitational waves, and calculate the energy density spectrum. Explicit calculations show that the most prominent contribution comes from the $3d-1s$ transition of singly ionized helium $\mathrm{He}^{+}$, which gives a peak in frequency at $\sim10^{13}$ Hz. Although the corresponding energy density is too small to be detected even with state-of-the-art technology today, we believe that the spontaneous emission of $\mathrm{He}^{+}$ is a natural source of high frequency gravitational waves, since it is a direct consequence if we accept that the basic quantum principles we are already familiar with apply as well to a quantum theory of gravity.

gr-qc↗

arXiv2021

Quantum corrections to the classical electrostatic interaction between induced dipoles

We study, in the presence of an external electrostatic field, the interatomic interaction between two ground-state atoms coupled with vacuum electromagnetic fluctuations within the dipole coupling approximation based on the perturbation theory. We show that, up to the fourth order, the electrostatic-field-induced interatomic interaction is just the classical dipole-dipole interaction, which disagrees with the recent result from Fiscelli et al. [G. Fiscelli et al., Phys. Rev. Lett. 124, 013604 (2020)]. However, to higher orders, there exist external-field-related quantum corrections to the induced classical electrostatic dipole-dipole interaction. In the sixth order, the external field effectively modifies the atomic polarizability to give rise to a two-photon-exchange quantum correction, while in the eighth order, the external field enables an additional process of three-photon exchange which is not allowed in the absence of the external field, and this process generates an $r^{-11}$ term in the interaction potential in the far regime, where $r$ is the interatomic separation. Numerical estimations show that these external-field-related quantum corrections are much smaller than the two-photon-exchange Casimir-Polder interaction.

quant-ph↗

arXiv2020

Resonance interaction between two entangled gravitational polarizable objects

We investigate the resonance quadrupole-quadrupole interaction between two entangled gravitationally polarizable objects induced by a bath of fluctuating quantum gravitational fields in vacuum in the framework of linearized quantum gravity. Our result shows that, the interaction energy behaves as $r^{-5}$ in the near regime, and oscillates with a decreasing amplitude proportional to $r^{-1}$ in the far regime, where $r$ is the distance between the two objects. Compared to the case when the two objects are in their ground states, the quantum gravitational interaction is significantly enhanced when the objects are in an entangled state. Remarkably, in the far regime, the resonance quantum gravitational interaction can give the dominating quantum correction to the Newtonian potential, since the extremum is much greater than the monopole-monopole quantum gravitational interaction.

gr-qc↗

arXiv2020

Quantum gravitational interaction between two objects induced by external gravitational radiation fields

We explore, in the framework of linearized quantum gravity, the induced gravitational interaction between two gravitationally polarizable objects in their ground states in the presence of an external quantized gravitational radiation field. The interaction energy decreases as $r^{-5}$ in the near regime, and oscillates with a decreasing amplitude proportional to $r^{-1}$ in the far regime, where $r$ is the distance between the two objects. The interaction can be either attractive or repulsive depending on the propagation direction, polarization and frequency of the external gravitational field. That is, the induced interaction can be manipulated by varying the relative direction between the orientation of the objects with respect to the propagation direction of the incident gravitational radiation.

gr-qc↗

arXiv2019

Geometrically Partial actions

We introduce "geometric" partial comodules over coalgebras in monoidal categories, as an alternative notion to the notion of partial action and coaction of a Hopf algebra introduced by Caenepeel and Janssen. The name is motivated by the fact that our new notion suits better if one wants to describe phenomena of partial actions in algebraic geometry. Under mild conditions, the category of geometric partial comodules is shown to be complete and cocomplete and the category of partial comodules over a Hopf algebra is lax monoidal. We develop a Hopf-Galois theory for geometric partial coactions to illustrate that our new notion might be a useful additional tool in Hopf algebra theory.

math.RA↗