arXiv subjects

Long Wang

Publications and source records attributed to Long Wang.

At least 109 records · Page 6Linked to original sources

arXiv2024

LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignment

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a Level-of-Detail (LoD) 3D map. LoD-Loc mainly achieves this goal by aligning the wireframe derived from the LoD projected model with that predicted by the neural network. Specifically, given a coarse pose provided by the UAV sensor, LoD-Loc hierarchically builds a cost volume for uniformly sampled pose hypotheses to describe pose probability distribution and select a pose with maximum probability. Each cost within this volume measures the degree of line alignment between projected and predicted wireframes. LoD-Loc also devises a 6-DoF pose optimization algorithm to refine the previous result with a differentiable Gaussian-Newton method. As no public dataset exists for the studied problem, we collect two datasets with map levels of LoD3.0 and LoD2.0, along with real RGB queries and ground-truth pose annotations. We benchmark our method and demonstrate that LoD-Loc achieves excellent performance, even surpassing current state-of-the-art methods that use textured 3D models for localization. The code and dataset are available at https://victorzoo.github.io/LoD-Loc.github.io/.

cs.CV↗

arXiv2024

Merging Hierarchical Triple Black Hole Systems with Intermediate-mass Black Holes in Population III Star Clusters

Theoretical predictions suggest that very massive stars have the potential to form through multiple collisions and eventually evolve into intermediate-mass black holes (IMBHs) within Population III star clusters embedded in mini dark matter haloes. In this study, we investigate the long-term evolution of Population III star clusters, including models with a primordial binary fraction of $f_{\rm b}=0$ and 1, using the $N$-body simulation code PETAR. We comprehensively examine the phenomenon of hierarchical triple black holes in the clusters, specifically focusing on their merging inner binary black holes (BBHs), with post-Newtonian correction, by using the TSUNAMI code. Our findings suggest a high likelihood of the inner BBHs containing IMBHs with masses on the order of $\mathcal{O}(100)M_{\odot}$, and as a result, their merger rate could be up to $0.1{\rm Gpc}^{-3}{\rm yr}^{-3}$. The orbital eccentricities of some merging inner BBHs oscillate over time periodically, known as the Kozai-Lidov oscillation, due to dynamical perturbations. Detectable merging inner BBHs for mHz GW detectors LISA/TianQin/Taiji concentrate within $z<3$. More distant sources would be detectable for CE/ET/LIGO/KAGRA/DECIGO, which are sensitive from $\mathcal{O}(0.1)$Hz to $\mathcal{O}(100)$Hz. Furthermore, compared with merging isolated BBHs, merging inner BBHs affected by dynamical perturbations from tertiary BHs tend to have higher eccentricities, with a significant fraction of sources with eccentricities closing to 1 at mHz bands. GW observations would help constrain formation channels of merging BBHs, whether through isolated evolution or dynamical interaction, by examining eccentricities.

astro-ph.GA↗

arXiv2024

Optimal Position Detection of an Optically Levitated Mie Particle

We theoretically investigate the problem of position detection of an optically levitated Mie particle. The information radiation field (IRF) is proposed and defined to characterize the scattered light carrying complete information about the center-of-mass (c.m.) motion of the particle. Based on the IRF, we suggest an optimal detection scheme for the position of arbitrary particles. We calculate both the information losses of objective collection and mode-matching in levitated optomechanical experiments. Our results conclude that the backward detection scheme, using an incident Gaussian beam focused by a high numerical aperture lens, provides sufficient information to achieve the quantum ground state through cooling of the three-dimensional c.m. motion of the Mie particle.

physics.optics↗

arXiv2024

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with a continuum manipulator, referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot's redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution and the gradient projection method. Kinematic simulation results are analyzed to assess the performance of the proposed algorithm. Finally, the continuum-UVMS is deployed in an experimental demonstration in which both teleoperation and autonomous control are tested for a given reference trajectory.

cs.RO↗

arXiv2024

A High-Fidelity Simulation Framework for Grasping Stability Analysis in Human Casualty Manipulation

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very few of these robots are capable of actively engaging with humans and undertaking physical manipulation tasks. This limitation is largely attributed to the absence of tools that can realistically simulate physical interactions, especially the contact mechanisms between a robotic gripper and a human body. In this letter, we aim to address key limitations in current developments towards robotic casualty manipulation. Firstly, we present an integrative simulation framework for casualty manipulation. We adapt a finite element method (FEM) tool into the grasping and manipulation scenario, and the developed framework can provide accurate biomechanical reactions resulting from manipulation. Secondly, we conduct a detailed assessment of grasping stability during casualty grasping and manipulation simulations. To validate the necessity and superior performance of the proposed high-fidelity simulation framework, we conducted a qualitative and quantitative comparison of grasping stability analyses between the proposed framework and the state-of-the-art multi-body physics simulations. Through these efforts, we have taken the first step towards a feasible solution for robotic casualty manipulation.

cs.RO↗

arXiv2024

Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We introduce a compact, low-cost, and modular custom-designed instrument module (IM) that ensures integration with the manipulator, featuring a force-torque sensor, a surgical instrument, and an actuation unit for driving the surgical instrument. The paper details the complete teleoperation framework, including the telemanipulation trajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller. Finally, the system capability to perform various surgical tasks was demonstrated, including passing a thread through the rings, picking and placing objects, and trajectory tracking.

cs.RO↗

arXiv2024

Arithmetic degrees and Zariski dense orbits of cohomologically hyperbolic maps

A dominant rational self-map on a projective variety is called $p$-cohomologically hyperbolic if the $p$-th dynamical degree is strictly larger than other dynamical degrees. For such a map defined over $\overline{\mathbb{Q}}$, we study lower bounds of the arithmetic degrees, existence of points with Zariski dense orbit, and finiteness of preperiodic points. In particular, we prove that, if $f$ is an $1$-cohomologically hyperbolic map on a smooth projective variety, then (1) the arithmetic degree of a $\overline{\mathbb{Q}}$-point with generic $f$-orbit is equal to the first dynamical degree of $f$; and (2) there are $\overline{\mathbb{Q}}$-points with generic $f$-orbit. Applying our theorem to the recently constructed rational map with transcendental dynamical degree, we confirm that the arithmetic degree can be transcendental.

math.AG↗

arXiv2024

Generating Synthetic Computed Tomography for Radiotherapy: SynthRAD2023 Challenge Report

Radiation therapy plays a crucial role in cancer treatment, necessitating precise delivery of radiation to tumors while sparing healthy tissues over multiple days. Computed tomography (CT) is integral for treatment planning, offering electron density data crucial for accurate dose calculations. However, accurately representing patient anatomy is challenging, especially in adaptive radiotherapy, where CT is not acquired daily. Magnetic resonance imaging (MRI) provides superior soft-tissue contrast. Still, it lacks electron density information while cone beam CT (CBCT) lacks direct electron density calibration and is mainly used for patient positioning. Adopting MRI-only or CBCT-based adaptive radiotherapy eliminates the need for CT planning but presents challenges. Synthetic CT (sCT) generation techniques aim to address these challenges by using image synthesis to bridge the gap between MRI, CBCT, and CT. The SynthRAD2023 challenge was organized to compare synthetic CT generation methods using multi-center ground truth data from 1080 patients, divided into two tasks: 1) MRI-to-CT and 2) CBCT-to-CT. The evaluation included image similarity and dose-based metrics from proton and photon plans. The challenge attracted significant participation, with 617 registrations and 22/17 valid submissions for tasks 1/2. Top-performing teams achieved high structural similarity indices (>0.87/0.90) and gamma pass rates for photon (>98.1%/99.0%) and proton (>97.3%/97.0%) plans. However, no significant correlation was found between image similarity metrics and dose accuracy, emphasizing the need for dose evaluation when assessing the clinical applicability of sCT. SynthRAD2023 facilitated the investigation and benchmarking of sCT generation techniques, providing insights for developing MRI-only and CBCT-based adaptive radiotherapy.

physics.med-ph↗

arXiv2024

Simulations predict intermediate-mass black hole formation in globular clusters

Intermediate-mass black holes (IMBHs) are those between 100 and 10$^5$ solar masses ($M_{\odot}$); their formation process is debated. One possible origin is the growth of less massive black holes (BHs) via mergers with stars and compact objects within globular clusters (GCs). However, previous simulations have indicated that this process only produces IMBHs $<500 M_{\odot}$ because the gravitational wave recoil ejects them when they merge with other BHs. We perform star-by-star simulations of GC formation, finding that high-density star formation in a GC's parent giant molecular cloud can produce sufficient mergers of massive stars to overcome that mass threshold. We conclude that GCs can form with IMBHs $\gtrsim 10^3 M_{\odot}$, which is sufficiently massive to be retained within the GC even with the expected gravitational wave recoil.

astro-ph.GA↗

arXiv2024

Compact Binary Formation in Open Star Clusters II: Difficulty of Gaia NS formation in low-mass star clusters

Gaia mission offers opportunities to search for compact binaries not involved in binary interactions (hereafter inert compact binaries), and results in the discoveries of binaries containing one black hole (BH) or one neutron star (NS), called "Gaia BHs" and "Gaia NSs", respectively. We have assessed if Gaia BHs and NSs can be formed in open clusters through dynamical interactions. In order to obtain a large number of inert compact binaries similar to Gaia BHs and NSs, we have performed gravitational $N$-body simulations for a large number of open clusters whose total mass is $1.2 \times 10^8 M_\odot$. These clusters have various masses, metallicities, densities, and binary fractions. We have found that open clusters form Gaia BHs ($10^{-6}$-$10^{-5} M_\odot^{-1}$) much more efficiently than Gaia NSs ($\lesssim 10^{-7} M_\odot^{-1}$) for any cluster parameters. This is quite inconsistent with observational results, because the reported numbers of Gaia BHs and NSs are $3$ and $21$, respectively. Additionally, we have switched off NS natal kicks for $10^4$ open clusters each weighing $10^3 M_\odot$ in order to retain a large number of NSs in open clusters. Then, open clusters form inert NS binaries originating from primordial binaries rather than formed through dynamical interactions. This means that Gaia NSs are formed dominantly on isolated fields, not in open clusters, if there is no NS natal kick. We have concluded that Gaia BHs can be dominantly formed in open clusters, however Gaia NSs cannot.

astro-ph.SR↗

arXiv2024

The Origin of Young Stellar Populations in NGC 1783: Accretion of External Stars

The presence of young stellar populations in the Large Magellanic Cloud cluster NGC 1783 has caught significant attention, with suggestions ranging from it being a genuine secondary stellar generation to a population of blue straggler stars or simply contamination from background stars. Thanks to multi-epoch observations with the Hubble Space Telescope, proper motions for stars within the field of NGC 1783 have been derived, thus allowing accurate cluster membership determination. Here, we report that the younger stars within NGC 1783 indeed belong to the cluster, and their spatial distribution is more extended compared to the bulk of the older stellar population, consistent with previous studies. Through N-body simulations, we demonstrate that the observed characteristics of the younger stars cannot be explained solely by blue straggler stars in the context of the isolated dynamical evolution of NGC 1783. Instead, accretion of the external, low-mass stellar system can better account for both the inverse spatial concentration and the radial velocity isotropy of the younger stars. We propose that NGC 1783 may have accreted external stars from low-mass stellar systems, resulting in a mixture of external younger stars and blue straggler stars from the older bulk population, thereby accounting for the characteristics of the younger sequence.

astro-ph.SR↗

arXiv2024

A nano vacuum gauge based on second-order coherence in optical levitation

Accurate measurement of pressure with a wide dynamic range holds significant importance for various applications. This issue can be realized with a mechanical nano-oscillator, where the pressure-related collisions with surrounding molecules induce its energy dissipation. However, this energy dissipation of the nano-oscillator may be overshadowed by other processes. Here, we apply the second-order coherence analysis to accurately characterize those distinct dissipation processes. Based on an optically levitated nano-oscillator, we successfully obtain precise measurements of the air pressure surrounding the particles from atmosphere to 7E-6 mbar, over 8 orders of magnitude. It proves that the mechanical nano-oscillator is an extremely promising candidate for precision pressure sensing applications. Moreover, the second-order coherence analysis method on a classical system can pave the way to characterize the dynamic properties of an oscillator, which will benefit microscopic thermodynamics, precision measurement, and macroscopic quantum research.

physics.optics↗

arXiv2024

Admittance Control for Adaptive Remote Center of Motion in Robotic Laparoscopic Surgery

In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the instrument is inserted through the trocar, intrinsic physiological movements such as the patient's heartbeat, breathing process, and/or other purposeful body repositioning may deviate the position of the port of entry. This can cause a conflict between the registered RCM and the moved port of entry. To mitigate this conflict, we seek to utilize the interaction forces at the RCM. We develop a novel framework that integrates admittance control into a redundancy resolution method for the RCM kinematic constraint. Using the force/torque sensory feedback at the base of the instrument driving mechanism (IDM), the proposed framework estimates the forces at RCM, rejects forces applied on other locations along the instrument, and uses them in the admittance controller. In this paper, we report analysis from kinematic simulations to validate the proposed framework. In addition, a hardware platform has been completed, and future work is planned for experimental validation.

cs.RO↗

arXiv2024

Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications

This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the friction bias. This approach is critical for robust execution of precision force-controlled tasks in manufacturing, such as thermoplastic tape replacement that traces surfaces or paths on a workpiece subject to uncertainties deviated from the model. We formulated the proposed method and implemented the framework in ROS2 environment. The approach was validated using kinematic simulations and a hardware platform. Specifically, we demonstrated the approach on a 7-DoF manipulator equipped with a force/torque sensor at the end-effector.

cs.RO↗

arXiv2024

A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems

In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework allows for the control of the vehicle along with two manipulators and their end-effectors using two low-cost haptic devices. The UVMS kinematics are derived in order to create an independent resolved motion rate controller for each manipulator, which optimally controls the joint positions to achieve a desired end-effector pose. This desired pose is computed in real-time using a teleoperation controller developed to process the dual haptic device input from the user. A physics-based simulation environment is used to implement this framework for two example tasks as well as provide data for error analysis of user commands. The first task illustrates the functionality of the framework through motion control of the vehicle and manipulators using only the haptic devices. The second task is to grasp an object using both manipulators simultaneously, demonstrating precision and coordination using the framework. The framework code is available at https://github.com/stevens-armlab/uvms_bimanual_sim.

cs.RO↗

arXiv2024

Where do they come from? Identification of globular cluster escaped stars

Globular clusters (GCs), as old as our Galaxy, constantly lose their members to the field as they cross through the Milky Way (MW). These GC escaped stars (or escapees) are suggested to contribute significantly to the MW halo. If a star has left the host GC a long time ago, chemical finger prints, e.g., N enrichment, may reveal its origin. In this work, we aim to establish dynamical connections between N-rich field stars recently identified by LAMOST and the existing MW GCs. By constructing the full action distribution, and combining with metallicity, we found 29 potential GC progenitors for 15 N-rich field stars. Particularly, some of them may be related to MW accretion events. On the other hand, if a star recently left its host GC via tidal evaporation, it still maintain the kinematic properties of the cluster. Here we identify extra-tidal candidates based on their spatial locations, proper motions (PMs), and their position on color-magnitude-diagrams (CMDs). We successfully identified more than 1600 extra-tidal candidates in the vicinity of six Gaia-Enceladus (GE)-related GCs (i.e., NGC 1851, NGC 1904, NGC 6205, NGC 6341, NGC 6779, NGC 7089). The density map of the extra-tidal candidates is confirmed to be an efficient way to find extra-tidal structures. The possible two density peaks at opposite directions of the inner boundary is a good indicator for long stellar stream. Among 95 extra-tidal candidates with spectroscopic radial velocities and metallicity, 54 of them are confirmed to be GC escaped stars, as they share similar properties as host GCs. These extra-tidal candidates are ideal targets for follow-up spectroscopic observation, as it greatly improves the scientific outcome. Once statistically significant number of spectroscopic radial velocities and metallicities are available, the GC dynamical evolution (e.g., mass loss, rotation) can be carefully investigated.

astro-ph.GA↗

arXiv2024

Mathematics of multi-agent learning systems at the interface of game theory and artificial intelligence

Evolutionary Game Theory (EGT) and Artificial Intelligence (AI) are two fields that, at first glance, might seem distinct, but they have notable connections and intersections. The former focuses on the evolution of behaviors (or strategies) in a population, where individuals interact with others and update their strategies based on imitation (or social learning). The more successful a strategy is, the more prevalent it becomes over time. The latter, meanwhile, is centered on machine learning algorithms and (deep) neural networks. It is often from a single-agent perspective but increasingly involves multi-agent environments, in which intelligent agents adjust their strategies based on feedback and experience, somewhat akin to the evolutionary process yet distinct in their self-learning capacities. In light of the key components necessary to address real-world problems, including (i) learning and adaptation, (ii) cooperation and competition, (iii) robustness and stability, and altogether (iv) population dynamics of individual agents whose strategies evolve, the cross-fertilization of ideas between both fields will contribute to the advancement of mathematics of multi-agent learning systems, in particular, to the nascent domain of ``collective cooperative intelligence'' bridging evolutionary dynamics and multi-agent reinforcement learning.

physics.soc-ph↗

arXiv2024

Dual-sided transparent display

In the past decade, display technology has been reimagined to meet the needs of the virtual world. By mapping information onto a scene through a transparent display, users can simultaneously visualize both the real world and layers of virtual elements. However, advances in augmented reality (AR) technology have primarily focused on wearable gear or personal devices. Here we present a single display capable of delivering visual information to observers positioned on either side of the transparent device. This dual-sided display system employs a polymer stabilized liquid crystal waveguide technology to achieve a transparency window of 65% while offering active-matrix control. An early-stage prototype exhibits full-color information via time-sequential processing of a red-green-blue (RGB) light-emitting diode (LED) strip. The dual-sided display provides a perspective on transparent mediums as display devices for human-centric and service-related experiences that can support both enhanced bi-directional user interactions and new media platforms.

cs.ET↗