arXiv subjects

Junjie Lu

Publications and source records attributed to Junjie Lu.

29 records · Page 2Linked to original sources

arXiv2024

Sampling-Based Hierarchical Trajectory Planning for Formation Flight

Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two critical requirements. To address this issue, this paper proposes a sampling-based trajectory planning method with a hierarchical structure for formation flight in dense obstacle environments. To ensure reliable local sensing information sharing among UAVs, each UAV generates a safe flight corridor (SFC), which is transmitted to the leader UAV. Subsequently, a sampling-based formation guidance path generation method is designed as the front-end strategy, steering the formation to fly in the desired shape safely with the formation connectivity provided by the SFCs. Furthermore, a model predictive path integral (MPPI) based distributed trajectory optimization method is developed as the back-end part, which ensures the smoothness, safety and dynamics feasibility of the executable trajectory. To validate the efficiency of the developed algorithm, comprehensive simulation comparisons are conducted. The supplementary simulation video can be seen at https://www.youtube.com/watch?v=xSxbUN0tn1M.

cs.RO↗

arXiv2024

Effects of Two Quantum Correction Parameters on Chaotic Dynamics of Particles Near Renormalized Group Improved Schwarzschild Black Holes

A renormalized group improved Schwarzschild black hole spacetime contains two quantum correction parameters. One parameter $γ$ represents the identification of cutoff of the distance scale, and another parameter $Ω$ stems from nonperturbative renormalization group theory. The two parameters are constrained by the data from the shadow of M87* central black hole. The dynamics of electrically charged test particles around the black hole are integrable. However, when the black hole is immersed in an external asymptotically uniform magnetic field, the dynamics are not integrable and may allow for the occurrence of chaos. % English Editor: %Please verify that the intended meaning has been retained. Employing an explicit symplectic integrator, we survey the contributions of the two parameters to the chaotic dynamical behavior. It is found that a small change of the parameter $γ$ constrained by the shadow of M87* black hole has an almost negligible effect on the dynamical transition of particles from order to chaos. However, a small decrease in the parameter $Ω$ leads to an enhancement in the strength of chaos from the global phase space structure. A theoretical interpretation is given to the different contributions. The term with the parameter $Ω$ dominates the term with the parameter $γ$, even if the two parameters have same values. % English Editor: Please verify %that the intended meaning has been retained. In particular, the parameter $Ω$ acts as a repulsive force, and its decrease means a weakening of the repulsive force or equivalently enhancing the attractive force from the black hole. On the other hand, there is a positive Lyapunov exponent that is universally given by the surface gravity of the black hole when $Ω\geq 0$ is small and the external magnetic field vanishes.

gr-qc↗

arXiv2024

Non-Weyl Behavior Induced by Superradiance: A Microwave Graph Study

We study experimentally the manifestation of non-Weyl graph behavior in open systems using microwave networks. For this a coupling variation to the network is necessary, which was out of reach till now. The coupling to the environment is changed by indirectly varying the boundary condition at the coupling vertex from Dirichlet to Neumann using a dangling bond with variable length attached the coupling vertex. A transformation of equal length spectra to equal reflection phase spectra of the dangling bond allows to create spectra with different fixed coupling strength. This allows to follow the resonances in the complex plane as a function of the coupling. While going from closed (Dirichlet) to fully open (Neumann) graph we see resonances escaping via a superradiant transition leading to non-Weyl behavior if the coupling to the outside is balanced. The open tetrahedral graph displays a rich parametric dynamic of the resonances in the complex plane presenting loops, regions of connected resonances and resonances approaching infinite imaginary parts.

physics.class-ph↗

arXiv2024

2DLIW-SLAM:2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure

Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion degeneracy, particularly in geometrically similar environments. To address this problem, this paper proposes a robust, accurate, and multi-sensor-fused 2D LiDAR SLAM system specifically designed for indoor mobile robots. To commence, the original LiDAR data undergoes meticulous processing through point and line extraction. Leveraging the distinctive characteristics of indoor environments, line-line constraints are established to complement other sensor data effectively, thereby augmenting the overall robustness and precision of the system. Concurrently, a tightly-coupled front-end is created, integrating data from the 2D LiDAR, IMU, and wheel odometry, thus enabling real-time state estimation. Building upon this solid foundation, a novel global feature point matching-based loop closure detection algorithm is proposed. This algorithm proves highly effective in mitigating front-end accumulated errors and ultimately constructs a globally consistent map. The experimental results indicate that our system fully meets real-time requirements. When compared to Cartographer, our system not only exhibits lower trajectory errors but also demonstrates stronger robustness, particularly in degeneracy problem.

cs.RO↗

arXiv2024

Towards Causal Interpretation of Sexual Orientation in Regression Analysis: Applications and Challenges

This study presents an approach to analyze health disparities in Sexual and Gender Minority (SGM) populations, with a focus on the role of social support levels as an example to allow causal interpretations of regression models. We advocate for precisely defining the exposure variable and incorporating mediators into analyses, to address the limitations of comparing counterfactual outcomes solely between SGM and heterosexual populations. We define sexual orientation into domains (attraction, behavior, and identity), and emphasize a consideration of these elements either separately or together, depending on the research question. We also introduce social support measured before and after the disclosure of sexual orientation to facilitate inference. We illustrate this approach by examining the association between SGM status and depression diagnosis with data from the 2020 and 2021 National Health Interview Survey. We find a direct effect of SGM status on depression (OR: 3.07, 95% CI: 2.64 - 3.58) and no indirect effect through social support (OR: 1.07, 95% CI: 0.87-1.31). Our research emphasizes the necessity of the comprehensive measurement of sexual orientation and a focus on intervenable variables like social support in order to empower SGM communities and address SGM related health inequalities.

stat.AP↗

arXiv2023

Continuity Equation for the Flow of Fisher Information in Wave Scattering

Using waves to explore our environment is a widely used paradigm, ranging from seismology to radar technology, and from bio-medical imaging to precision measurements. In all of these fields, the central aim is to gather as much information as possible about an object of interest by sending a probing wave at it and processing the information delivered back to the detector. Here, we demonstrate that an electromagnetic wave scattered at an object carries locally defined and conserved information about all of the object's constitutive parameters. Specifically, we introduce here the density and flux of Fisher information for very general types of wave fields and identify corresponding sources and sinks of information through which all these new quantities satisfy a fundamental continuity equation. We experimentally verify our theoretical predictions by studying a movable object embedded inside a disordered environment and by measuring the corresponding Fisher information flux at microwave frequencies. Our results provide a new understanding of the generation and propagation of information and open up new possibilities for tracking and designing the flow of information even in complex environments.

cond-mat.dis-nn↗

arXiv2022

TMSTC*: A Turn-minimizing Algorithm For Multi-robot Coverage Path Planning

Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper, we describe Turn-minimizing Multirobot Spanning Tree Coverage Star(TMSTC*), an improved multirobot coverage path planning (mCPP) algorithm based on the MSTC*. Our algorithm partitions the map into minimum bricks as tree's branches and thereby transforms the problem into finding the maximum independent set of bipartite graph. We then connect bricks with greedy strategy to form a tree, aiming to reduce the number of turns of corresponding circumnavigating coverage path. Our experimental results show that our approach enables multiple robots to make fewer turns and thus complete terrain coverage tasks faster than other popular algorithms.

cs.RO↗

arXiv2022

Experimental study of closed and open microwave waveguide graphs with preserved and partially violated time-reversal invariance

We report on experiments that were performed with microwave waveguide systems and demonstrate that in the frequency range of a single transversal mode they may serve as a model for closed and open quantum graphs. These consist of bonds that are connected at vertices. On the bonds, they are governed by the one-dimensional Schrödinger equation with boundary conditions imposed at the vertices. The resulting transport properties through the vertices may be expressed in terms of a vertex scattering matrix. Quantum graphs with incommensurate bond lengths attracted interest within the field of quantum chaos because, depending on the characteristics of the vertex scattering matrix, its wave dynamic may exhibit features of a typical quantum system with chaotic counterpart. In distinction to microwave networks, which serve as an experimental model of quantum graphs with Neumann boundary conditions, the vertex scattering matrices associated with a waveguide system depend on the wavenumber and the wave functions can be determined experimentally. We analyze the spectral properties of microwave waveguide systems with preserved and partially violated time-reversal invariance, and the properties of the associated wave functions. Furthermore, we study properties of the scattering matrix describing the measurement process within the frame work of random matrix theory for quantum chaotic scattering systems.

quant-ph↗

arXiv2021

A spectral duality in graphs and microwave networks

Quantum graphs and their experimental counterparts, microwave networks, are ideally suited to study the spectral statistics of chaotic systems. The graph spectrum is obtained from the zeros of a secular determinant derived from energy and charge conservation. Depending on the boundary conditions at the vertices, there are Neumann and Dirichlet graphs. The first ones are realized in experiments, since the standard junctions connecting the bonds obey Neumann boundary conditions due to current conservation. On average, the corresponding Neumann and Dirichlet eigenvalues alternate as a function of the wave number, with the consequence that the Neumann spectrum is described by random matrix theory only locally, but adopts features of the interlacing Dirichlet spectrum for long-range correlations. Another spectral interlacing is found for the Green's function, which in contrast to the secular determinant is experimentally accessible. This is illustrated by microwave studies and numerics.

cond-mat.mes-hall↗

arXiv2021

Missing-level statistics in classically chaotic quantum systems with symplectic symmetry

We present experimental and theoretical results for the fluctuation properties in the incomplete spectra of quantum systems with symplectic symmetry and a chaotic dynamics in the classical limit. To obtain theoretical predictions, we extend the random-matrix theory (RMT) approach introduced in [O. Bohigas and M. P. Pato, Phys. Rev. E 74, 036212 (2006)] for incomplete spectra of quantum systems with orthogonal symmetry. We validate these RMT predictions by randomly extracting a fraction of levels from complete sequences obtained numerically for quantum graphs and experimentally for microwave networks with symplectic symmetry and then apply them to incomplete experimental spectra to demonstrate their applicability. Independently of their symmetry class quantum graphs exhibit nongeneric features which originate from nonuniversal contributions. Part of the associated eigenfrequencies can be identified in the level dynamics of parameter-dependent quantum graphs and extracted, thereby yielding spectra with systematically missing eigenfrequencies. We demonstrate that, even though the RMT approach relies on the assumption that levels are missing at random, it is possible to determine the fraction of missing levels and assign the appropriate symmetry class by comparison of their fluctuation properties with the RMT predictions.

quant-ph↗

arXiv2018

D-shaped photonic crystal fiber plasmonic refractive index sensor based on gold grating

In this work, we proposed a high resolution D-shaped photonic crystal fiber (PCF) surface plasmon resonance (SPR) sensor based on gold grating. Gold grating is introduced to modulate the resonance wavelength and enhance the refractive index (RI) sensitivity. Structure parameters of PCF and gold grating are analyzed by finite element method (FEM) for optimizing the SPR sensor. The simulation results indicate that air hole pitch, air hole diameter and gold thickness and grating constant have little influence on the sensitivity of refractive index, which reduces the requirement of precise processing. For improving the resolution of RI sensing, two-feature (2F) interrogation method which combines wavelength interrogation and amplitude interrogation is used and the maximum theoretical resolution of SPR sensor reaches to 5.98*10-6 RIU in range of 1.36-1.38 and the wavelength sensitivity reaches to 3340nm/RIU. The proposed SPR sensor shows potential applications on developing a high-sensitivity, real time and fast-response SPR-RI sensor.

physics.optics↗