arXiv subjects

Lei Wei

Publications and source records attributed to Lei Wei.

At least 55 records · Page 3Linked to original sources

arXiv2023

TIMS: A Tactile Internet-Based Micromanipulation System with Haptic Guidance for Surgical Training

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems have been developed to assist surgeons in performing complex microsurgical tasks with greater precision and safety. However, the steep learning curve for robot-assisted microsurgery (RAMS) and the shortage of well-trained surgeons pose significant challenges to the widespread adoption of RAMS. Therefore, the development of a versatile training system for RAMS is necessary, which can bring tangible benefits to both surgeons and patients. In this paper, we present a Tactile Internet-Based Micromanipulation System (TIMS) based on a ROS-Django web-based architecture for microsurgical training. This system can provide tactile feedback to operators via a wearable tactile display (WTD), while real-time data is transmitted through the internet via a ROS-Django framework. In addition, TIMS integrates haptic guidance to `guide' the trainees to follow a desired trajectory provided by expert surgeons. Learning from demonstration based on Gaussian Process Regression (GPR) was used to generate the desired trajectory. User studies were also conducted to verify the effectiveness of our proposed TIMS, comparing users' performance with and without tactile feedback and/or haptic guidance.

cs.RO↗

arXiv2023

Scattering for the fractional magnetic Schrodinger operators

In this paper, we prove the existence of the scattering operator for the fractional magnetic Schrodinger operators. For this, we construct the fractional distorted Fourier transforms with magnetic potentials. Applying the properties of the distorted Fourier transforms, the existence and the asymptotic completeness of the wave operators are obtained. Furthermore, we prove the absence of positive eigenvalues for Schrodinger operators.

math.AP↗

arXiv2023

Dispersive decay estimates for the magnetic Schrödinger equations

In this paper, we present a proof of dispersive decay for both linear and nonlinear magnetic Schrödinger equations. To achieve this, we introduce the fractional distorted Fourier transforms with magnetic potentials and define the fractional differential operator $\arrowvert J_{A}(t)\arrowvert^{s}$. By leveraging the properties of the distorted Fourier transforms and the Strichartz estimates of $\arrowvert J_{A}\arrowvert^{s}u$, we establish the dispersive bounds with the decay rate $t^{-\frac{n}{2}}$. This decay rate provides valuable insights into the spreading properties and long-term dynamics of the solutions to the magnetic Schrödinger equations.

math.AP↗

arXiv2023

Segmentation-Driven Feature-Preserving Mesh Denoising

Feature-preserving mesh denoising has received noticeable attention in visual media, with the aim of recovering high-fidelity, clean mesh shapes from the ones that are contaminated by noise. Existing denoising methods often design smaller weights for anisotropic surfaces and larger weights for isotropic surfaces in order to preserve sharp features, such as edges or corners, on the mesh shapes. However, they often disregard the fact that such small weights on anisotropic surfaces still pose negative impacts on the denoising outcomes and detail preservation results on the shapes. In this paper, we propose a novel segmentation-driven mesh denoising method which performs region-wise denoising, and thus avoids the disturbance of anisotropic neighbour faces for better feature preservation results. Also, our backbone can be easily embedded into commonly-used mesh denoising frameworks. Extensive experiments have demonstrated that our method can enhance the denoising results on a wide range of synthetic and real mesh models, both quantitatively and visually.

cs.GR↗

arXiv2022

Retroreflection and diffraction of a Bose-Einstein condensate by evanescent standing wave potential

The characteristic of the angular distributions of accelerated Bose-Einstein condensate (BEC) atoms incidence on the surface is designed using the mathematical modeling method. Here, we proposed the idea to study the retroreflection and diffraction of a BEC from an evanescent standing wave potential (ESWP). The ESWP is formed by multiple reflections of the laser beam from the surface of the prism under the influence of gravity. After BEC's reflection and diffraction, the so-called BEC's density rainbow patterns develop due to the interference which depends on the surface structure which we model with the periodic decaying evanescent field. The interaction of accelerated bosonic atoms with a surface can help to demonstrate surface structures or to determine surface roughness, or to build future high spatial resolution and high sensitivity magnetic-field sensors in two-dimensional systems.

quant-ph↗

arXiv2021

Optical multipolar torque in structured electromagnetic fields: on `helicity gradient' torque, quadrupolar torque and the spin of field gradient

Structured light mechanically interacts with matter via optical forces and torques. The optical torque is traditionally calculated via the flux of total angular momentum (AM) into a volume enclosing an object. In [Phys. Rev. A 92, 043843 (2015)] a powerful method was suggested to calculate optical torque separately from the flux of the spin and the orbital parts of optical AM, providing useful physical insight. However, the method predicted a new type of dipolar torque dependent on the gradient of the helicity density of the optical beam, inconsistent with prior torque calculations. In this work we intend to clarify this discrepancy and clear up the confusion. We re-derive, from first principles and with detailed derivations, both the traditional dipolar total torque using total AM flux, and the spin and orbital torque components based on the corresponding AM contributions, ensuring that their sum agrees with the total torque. We also test our derived analytical expressions against numerical integration, with exact agreement. We find that `helicity gradient' torque terms indeed exist in the spin and orbital components separately, but we present corrected prefactors, such that upon adding them, they cancel out, and the `helicity gradient' term vanishes from the total dipolar torque, reconciling literature results. We also derive the analytical expression of the quadrupolar torque, showing that it is proportional to the spin of the EM field gradient, rather than the local EM field spin, as sometimes wrongly assumed in the literature. We provide examples of counter-intuitive situations where the spin of the EM field gradient behaves very differently to the local EM spin. Naively using the local EM field spin leads to wrong predictions of the torque on large particles with strong contributions of quadrupole and higher-order multipoles, especially in a structured incident field.

physics.optics↗

arXiv2021

Explainable Hierarchical Imitation Learning for Robotic Drink Pouring

To accurately pour drinks into various containers is an essential skill for service robots. However, drink pouring is a dynamic process and difficult to model. Traditional deep imitation learning techniques for implementing autonomous robotic pouring have an inherent black-box effect and require a large amount of demonstration data for model training. To address these issues, an Explainable Hierarchical Imitation Learning (EHIL) method is proposed in this paper such that a robot can learn high-level general knowledge and execute low-level actions across multiple drink pouring scenarios. Moreover, with EHIL, a logical graph can be constructed for task execution, through which the decision-making process for action generation can be made explainable to users and the causes of failure can be traced out. Based on the logical graph, the framework is manipulable to achieve different targets while the adaptability to unseen scenarios can be achieved in an explainable manner. A series of experiments have been conducted to verify the effectiveness of the proposed method. Results indicate that EHIL outperforms the traditional behavior cloning method in terms of success rate, adaptability, manipulability and explainability.

cs.RO↗

arXiv2020

Far-field and near-field directionality in acoustic scattering

Far-field directional scattering and near-field directional coupling from simple sources have recently received great attention in photonics: beyond circularly-polarized dipoles, whose directional coupling to evanescent waves was recently applied to acoustics, the near-field directionality of modes in optics includes phased combinations of electric and magnetic dipoles, such as the Janus dipole and the Huygens dipole, both of which have been experimentally implemented using high refractive index nanoparticles. In this work we extend this to acoustics: we propose the use of high acoustic index scatterers exhibiting phased combinations of acoustic monopoles and dipoles with far-field and near-field directionality. All solutions stem from the elegant acoustic angular spectrum of the acoustic source, in close analogy to electromagnetism. A Huygens acoustic source with zero backward scattering is proposed and numerically demonstrated, as well as a Janus source achieving face-selective and position-dependent evanescent coupling to nearby acoustic waveguides.

physics.class-ph↗

arXiv2019

Momentum-space geometric structure of helical evanescent waves and its implications on near-field directionality

In this work, a momentum-space geometrical structure in helical evanescent electromagnetic waves is revealed. It is shown that for every helical evanescent wave on a helicity-dependent half tangent line in momentum space, the orientation of each of its field, spin, and Poynting vectors is the same. This geometric structure reveals itself as a remarkable relation between the far-field and near-field components of the angular spectrum. Any general evanescent wavevector is linked to two points on the $k_ρ=k_0$ circle of propagating wavevectors via two helicity-dependent tangent lines. Knowing the field on the $k_ρ=k_0$ circle of a general dipolar source is sufficient to determine its entire evanescent angular spectrum. Applying this concept, we gain insights into near-field directionality by showing that every zero in the angular spectrum is a helicity singularity where two half-tangent lines of opposite helicity intersect. A powerful method for synthetic design of near-field directional sources is also devised, using structured helical illumination to gain full control of the near-field directionality. The results provide a fundamental insight of helical evanescent waves and have implications in areas where chiral light-matter interaction plays a central role.

physics.optics↗

arXiv2019

Optical forces from near-field directionalities in planar structures

Matter manipulation with optical forces has become commonplace in a wide range of research fields and is epitomized by the optical trap. Calculations of optical forces on small illuminated particles typically neglect multiple scattering on nearby structures. However, this scattering can result in large recoil forces, particularly when the scattering includes directional near-field excitations. Near-field recoil forces have been studied in the case of electric, magnetic and circularly polarized dipoles, but they exist for any type of directional near-field excitation. We use the force angular spectrum as a concise and intuitive analytical expression for the force on any dipole near planar surfaces, which allows us to clearly distinguish the effect due to the dipole, and due to the surface. We relate this directly to the coupling efficiency of surface or guided modes via Fermi's golden rule. To exemplify this, a near-field force transverse to the illumination is computationally calculated for a Huygens dipole near a metallic waveguide. We believe this formalism will prove insightful for various nanomanipulation systems within areas such as nanofluidics, sensing, biotechnology and nano-assembly of nanostructures.

physics.optics↗

arXiv2019

Superion: Grammar-Aware Greybox Fuzzing

In recent years, coverage-based greybox fuzzing has proven itself to be one of the most effective techniques for finding security bugs in practice. Particularly, American Fuzzy Lop (AFL for short) is deemed to be a great success in fuzzing relatively simple test inputs. Unfortunately, when it meets structured test inputs such as XML and JavaScript, those grammar-blind trimming and mutation strategies in AFL hinder the effectiveness and efficiency. To this end, we propose a grammar-aware coverage-based greybox fuzzing approach to fuzz programs that process structured inputs. Given the grammar (which is often publicly available) of test inputs, we introduce a grammar-aware trimming strategy to trim test inputs at the tree level using the abstract syntax trees (ASTs) of parsed test inputs. Further, we introduce two grammar-aware mutation strategies (i.e., enhanced dictionary-based mutation and tree-based mutation). Specifically, tree-based mutation works via replacing subtrees using the ASTs of parsed test inputs. Equipped with grammar-awareness, our approach can carry the fuzzing exploration into width and depth. We implemented our approach as an extension to AFL, named Superion; and evaluated the effectiveness of Superion on real-life large-scale programs (a XML engine libplist and three JavaScript engines WebKit, Jerryscript and ChakraCore). Our results have demonstrated that Superion can improve the code coverage (i.e., 16.7% and 8.8% in line and function coverage) and bug-finding capability (i.e., 31 new bugs, among which we discovered 21 new vulnerabilities with 16 CVEs assigned and 3.2K USD bug bounty rewards received) over AFL and jsfunfuzz. We also demonstrated the effectiveness of our grammar-aware trimming and mutation.

cs.CR↗

arXiv2018

Interferometric evanescent wave excitation of nano-antenna for ultra-sensitive displacement and phase metrology

We propose a method for ultra-sensitive displacement and phase metrology based on the interferometric evanescent wave excitation of nano-antennas. We show that with a proper choice of nano-antenna, tiny displacements or relative phase variations can be converted into sensitive scattering direction changes in the Fourier $k$-space. These changes stem from the strong position dependence of the imaginary Poynting vector orientation within interfering evanescent waves. Using strongly-evanescent standing waves, high sensitivity is achieved in the nano-antenna's zero scattering direction, which varies linearly with displacement over a long range. With weakly-evanescent wave interference, even higher sensitivity to tiny displacement or phase changes can be reached around chosen location. The high sensitivity of the proposed method can form the basis for many applications.

physics.optics↗

arXiv2018

Directional scattering from particles under evanescent wave illumination: the role of reactive power

Study of photonic spin-orbital interactions, which involves control of the propagation and spatial distributions of light with the polarization of electromagnetic fields, is not only important at the fundamental level but also has significant implications for functional photonic applications that require active tuning of directional light propagation. Many of the experimental demonstrations have been attributed to the spin-momentum locking characteristic of evanescent waves. In this letter, we show another property of evanescent waves: the polarization dependent direction of the imaginary part of the Poynting vector, i.e. reactive power. Based on this property, we propose a simple and robust way to tune the directional far-field scattering from nanoparticles near a surface under evanescent wave illumination by controlling linear polarization and direction of the incident light.

physics.optics↗

arXiv2018

Exceed Improved Efficient Perovskite Solar Cells Under Dual-Irradiation System

In general, perovskite solar cells (PSC) with a sensitized or thin film architecture absorb light from a single illumination. This paper reported a PSC architecture with a semitransparent Au/ITO counter electrode, which allows light to pass it partially. When the device was illuminated simultaneously from both the FTO and Au/ITO sides, the PSC has achieved an overall power conversion efficiency (PCE) as high as 20.1% under high light intensity (1.4 sun), which is much higher than that of the single-irradiation system.

physics.app-ph↗

arXiv2016

Adding a spin to Kerker's condition: arbitrary scattering direction tuning of nano-antennas with designed excitation

We describe a method to control the directional scattering of a high index dielectric nanosphere, which utilizes the unique focusing properties of an azimuthally polarized phase vortex and a radially polarized beam to independently excite insde the nanosphere a spinning magnetic dipole and a linearly polarized electric dipole mode normal to the magnetic dipole. We show that by simply adjusting the phase and amplitude of the field on the exit pupil of the optical system, the scattering of the nanosphere can be tuned to any direction within a plane and the method works over a broad wavelength range.

physics.optics↗

arXiv2016

Accurate feeding of nano antenna by polarization singularities for lateral and rotational displacement sensing

Addressing subwavelength object and displacement is crucial in optical nanometrology. We show in this Letter that nano antennas with subwavelength structures can be addressed precisely by incident beams with singularity. This accurate feeding beyond the diffraction limit can lead to dynamic control of the unidirectional scattering in the far field. The combination of polarization discontinuity of the incoming singular beam, along with the rapid phase variation near the antenna leads to remarkable sensitivity of the far field scattering to displacement at deep subwavelength scale. This opens a far field deep subwavelength postion detection method based on the interaction of singular optics with nano antennas.

physics.optics↗

arXiv2016

Excitation of radiationless anapole mode of isotropic dielectric nanoparticles with tightly focused radially polarized beam

A high index dielectric nano-sphere can be excited and yet remain radiationless. A method to excite the non-radiating anapole mode of a high index isotropic dielectric nanosphere is presented. With tightly focused radially polarized beam illumination, the main-contributing electric dipole mode and magnetic modes can be zero with only a weak electric quadruple contributing to the total scattering. Further, with a standing wave illumination formed by two counter-propagating focused radially polarized beam under $4π$ configuration, the ideal radiationless ananpole can be excited.

physics.optics↗

arXiv2016

Shaping the focal field of radially/azimuthally polarized phase vortex with Zernike polynomials

The focal field properties of radially/azimuthally polarized Zernike polynomials are studied. A method to design the pupil field in order to shape the focal field of radially or azimuthally polarized phase vortex is introduced. With this method, we are able to obtain a pupil field to achieve a longitudinally polarized hollow spot with a depth of focus up to $12λ$ and $0.14λ$ lateral resolution for a optical system with numerical aperture 0.99; A pupil field to generate 8 circularly polarized focal spots along the optical axis is also obtained with this method.

physics.optics↗