arXiv subjects

Ran Wei

Publications and source records attributed to Ran Wei.

At least 73 records · Page 4Linked to original sources

arXiv2020

Coarse-To-Fine Visual Localization Using Semantic Compact Map

Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and compact representation of the environment, we propose a coarse-to-fine localization system based on a semantic compact map. Pole-like objects are stored in the compact map, then are extracted from semantically segmented images as observations. Localization is performed by a particle filter, followed by a pose alignment module decoupling translation and rotation to achieve better accuracy. We evaluate our system both on synthetic and realistic datasets and compare it with two baselines, a state-of-art semantic feature-based system, and a traditional SIFT feature-based system. Experiments demonstrate that even with a significantly small map, such as a 10 KB map for a 3.7 km long trajectory, our system provides a comparable accuracy with the baselines.

cs.RO↗

arXiv2020

Integration of Formal Proof into Unified Assurance Cases with Isabelle/SACM

Assurance cases are often required to certify critical systems. The use of formal methods in assurance can improve automation, increase confidence, and overcome errant reasoning. However, assurance cases can never be fully formalised, as the use of formal methods is contingent on models that are validated by informal processes. Consequently, assurance techniques should support both formal and informal artifacts, with explicated inferential links between them. In this paper, we contribute a formal machine-checked interactive language, called Isabelle/SACM, supporting the computer-assisted construction of assurance cases compliant with the OMG Structured Assurance Case Meta-Model. The use of Isabelle/SACM guarantees well-formedness, consistency, and traceability of assurance cases, and allows a tight integration of formal and informal evidence of various provenance. In particular, Isabelle brings a diverse range of automated verification techniques that can provide evidence. To validate our approach, we present a substantial case study based on the Tokeneer secure entry system benchmark. We embed its functional specification into Isabelle, verify its security requirements, and form a modular security case in Isabelle/SACM that combines the heterogeneous artifacts. We thus show that Isabelle is a suitable platform for critical systems assurance.

cs.SE↗

arXiv2020

The TianQin project: current progress on science and technology

TianQin is a planned space-based gravitational wave (GW) observatory consisting of three earth orbiting satellites with an orbital radius of about $10^5~{\rm km}$. The satellites will form a equilateral triangle constellation the plane of which is nearly perpendicular to the ecliptic plane. TianQin aims to detect GWs between $10^{-4}~{\rm Hz}$ and $1~{\rm Hz}$ that can be generated by a wide variety of important astrophysical and cosmological sources, including the inspiral of Galactic ultra-compact binaries, the inspiral of stellar-mass black hole binaries, extreme mass ratio inspirals, the merger of massive black hole binaries, and possibly the energetic processes in the very early universe or exotic sources such as cosmic strings. In order to start science operations around 2035, a roadmap called the 0123 plan is being used to bring the key technologies of TianQin to maturity, supported by the construction of a series of research facilities on the ground. Two major projects of the 0123 plan are being carried out. In this process, the team has created a new generation $17~{\rm cm}$ single-body hollow corner-cube retro-reflector which has been launched with the QueQiao satellite on 21 May 2018; a new laser ranging station equipped with a $1.2~{\rm m}$ telescope has been constructed and the station has successfully ranged to all the five retro-reflectors on the Moon; and the TianQin-1 experimental satellite has been launched on 20 December 2019 and the first round result shows that the satellite has exceeded all of its mission requirements.

gr-qc↗

arXiv2020

The First Round Result from the TianQin-1 Satellite

The TianQin-1 satellite (TQ-1), which is the first technology demonstration satellite for the TianQin project, was launched on 20 December 2019. The first round of experiment had been carried out from 21 December 2019 until 1 April 2020. The residual acceleration of the satellite is found to be about $1\times10^{-10}~{\rm m}/{\rm s}^{2}/{\rm Hz}^{1/2}$ at $0.1~{\rm Hz}\,$ and about $5\times10^{-11}~{\rm m}/{\rm s}^{2}/{\rm Hz}^{1/2}$ at $0.05~{\rm Hz}\,$, measured by an inertial sensor with a sensitivity of $5\times10^{-12}~{\rm m}/{\rm s}^{2}/{\rm Hz}^{1/2}$ at $0.1~{\rm Hz}\,$. The micro-Newton thrusters has demonstrated a thrust resolution of $0.1~μ{\rm N}$ and a thrust noise of $0.3~μ{\rm N}/{\rm Hz}^{1/2}$ at $0.1~{\rm Hz}$. The residual noise of the satellite with drag-free control is $3\times10^{-9}~{\rm m}/{\rm s}^{2}/{\rm Hz}^{1/2}$ at $0.1~{\rm Hz}\,$. The noise level of the optical readout system is about $30~{\rm pm}/{\rm Hz}^{1/2}$ at $0.1~{\rm Hz}\,$. The temperature stability at temperature monitoring position is controlled to be about $\pm3~{\rm mK}$ per orbit, and the mismatch between the center-of-mass of the satellite and that of the test mass is measured with a precision of better than $0.1~{\rm mm}$.

physics.ins-det↗

arXiv2020

Object-oriented SLAM using Quadrics and Symmetry Properties for Indoor Environments

Aiming at the application environment of indoor mobile robots, this paper proposes a sparse object-level SLAM algorithm based on an RGB-D camera. A quadric representation is used as a landmark to compactly model objects, including their position, orientation, and occupied space. The state-of-art quadric-based SLAM algorithm faces the observability problem caused by the limited perspective under the plane trajectory of the mobile robot. To solve the problem, the proposed algorithm fuses both object detection and point cloud data to estimate the quadric parameters. It finishes the quadric initialization based on a single frame of RGB-D data, which significantly reduces the requirements for perspective changes. As objects are often observed locally, the proposed algorithm uses the symmetrical properties of indoor artificial objects to estimate the occluded parts to obtain more accurate quadric parameters. Experiments have shown that compared with the state-of-art algorithm, especially on the forward trajectory of mobile robots, the proposed algorithm significantly improves the accuracy and convergence speed of quadric reconstruction. Finally, we made available an opensource implementation to replicate the experiments.

cs.RO↗

arXiv2019

Model Based System Assurance Using the Structured Assurance Case Metamodel

Assurance cases are used to demonstrate confidence in system properties of interest (e.g. safety and/or security). A number of system assurance approaches are adopted by industries in the safety-critical domain. However, the task of constructing assurance cases remains a manual, trivial and informal process. The Structured Assurance Case Metamodel (SACM) is a standard specified by the Object Management Group (OMG). SACM provides a richer set of features than existing system assurance languages/approaches. SACM provides a foundation for model-based system assurance, which has great potentials in growing technology domains such as Open Adaptive Systems. However, the intended usage of SACM has not been sufficiently explained. In addition, there has been no support to interoperate between existing assurance case (models) and SACM models. In this article, we explain the intended usage of SACM based on our involvement in the OMG specification process of SACM. In addition, to promote a model-based approach, we provide SACM compliant metamodels for existing system assurance approaches (the Goal Structuring Notation and Claims-Arguments-Evidence), and the transformations from these models to SACM. We also briefly discuss the tool support for model-based system assurance which helps practitioners to make the transition from existing system assurance approaches to model-based system assurance using SACM.

cs.SE↗

arXiv2019

PIRM2018 Challenge on Spectral Image Super-Resolution: Dataset and Study

This paper introduces a newly collected and novel dataset (StereoMSI) for example-based single and colour-guided spectral image super-resolution. The dataset was first released and promoted during the PIRM2018 spectral image super-resolution challenge. To the best of our knowledge, the dataset is the first of its kind, comprising 350 registered colour-spectral image pairs. The dataset has been used for the two tracks of the challenge and, for each of these, we have provided a split into training, validation and testing. This arrangement is a result of the challenge structure and phases, with the first track focusing on example-based spectral image super-resolution and the second one aiming at exploiting the registered stereo colour imagery to improve the resolution of the spectral images. Each of the tracks and splits has been selected to be consistent across a number of image quality metrics. The dataset is quite general in nature and can be used for a wide variety of applications in addition to the development of spectral image super-resolution methods.

cs.CV↗

arXiv2019

Coding Capacity of Purkinje Cells with Different Schemes of Morphological Reduction

The brain as a neuronal system has very complex structure with large diversity of neuronal types. The most basic complexity is seen from the structure of neuronal morphology, which usually has a complex tree-like structure with dendritic spines distributed in branches. For simulating a large-scale network with spiking neurons, the simple point neuron, such as integrate-and-fire neuron, is often used. However, recent experimental evidence suggests that the computational ability of a single neuron is largely enhanced by its morphological structure, in particular, by various types of dendritic dynamics. As morphology reduction of detailed biophysical models is one of classic questions for systems neuroscience, much effort has been taken to simulate a neuron with a few compartments to include the interaction between soma and dendritic spines. Yet, novel reduction methods are still needed to deal with complex dendritic tree. Here by using ten individual Purkinje cells of the cerebellum from three species of guinea-pig, mouse and rat, we consider four types of reduction methods and study their effects on the coding capacity of Purkinje cells in terms of firing rate, timing coding, spiking pattern, and modulated firing under different stimulation protocols. We find that there is a variation of reduction performance depending on individual cells and species, however, all reduction methods can preserve, to some degree, firing activity of the full model of Purkinje cell. Therefore, when stimulating large-scale network of neurons, one has to choose a proper type of reduced neuronal model depending on the questions addressed.

q-bio.NC↗

arXiv2018

Free Energy of the Cauchy Directed Polymer Model at High Temperature

We study the Cauchy directed polymer model on $\mathbb{Z}^{1+1}$, where the underlying random walk is in the domain of attraction to the $1$-stable law. We show that, if the random walk satisfies certain regularity assumptions and its symmetrized version is recurrent, then the free energy is strictly negative at any inverse temperature $β>0$. Moreover, under additional regularity assumptions on the random walk, we can identify the sharp asymptotics of the free energy in the high temperature limit, namely, \begin{equation*} \lim\limits_{β\to0}β^{2}\log(-p(β))=-c. \end{equation*}

math.PR↗

arXiv2016

On the Long-range Directed Polymer Model

We study the long-range directed polymer model on $\mathbbm{Z}$ in a random environment, where the underlying random walk lies in the domain of attraction of an $α$-stable process for some $α\in(0,2]$. Similar to the more classic nearest-neighbor directed polymer model, as the inverse temperature $β$ increases, the model undergoes a transition from a weak disorder regime to a strong disorder regime. We extend most of the important results known for the nearest-neighbor directed polymer model on $\mathbbm{Z}^d$ to the long-range model on $\mathbbm{Z}$. More precisely, we show that in the entire weak disorder regime, the polymer satisfies an analogue of invariance principle, while in the so-called very strong disorder regime, the polymer end point distribution contains macroscopic atoms and under some mild conditions, the polymer has a super-$α$-stable motion. Furthermore, for $α\in (1,2]$, we show that the model is in the very strong disorder regime whenever $β>0$, and we give explicit bounds on the free energy.

math.PR↗

arXiv2015

Anomalous charge pumping in a one-dimensional optical superlattice

We model atomic motion in a sliding superlattice potential to explore topological "charge pumping" and to find optimal parameters for experimental observation of this phenomenon. We analytically study the band-structure, finding how the Wannier states evolve as two sinusoidal lattices are moved relative to one-another, and relate this evolution to the center of mass motion of an atomic cloud. We pay particular attention to counterintuitive or anomalous regimes, such as when the atomic motion is opposite to that of the lattice.

cond-mat.quant-gas↗

arXiv2014

Theory of Bosons in two-leg ladders with large magnetic fields

We calculate the ground state of a Bose gas trapped on a two-leg ladder where Raman-induced hopping mimics the effect of a large magnetic field. In the mean-field limit, where there are large numbers of particles per site, this maps onto a uniformly frustrated two-leg ladder classical spin model. The net particle current always vanishes in the ground state, but generically there is a finite "chiral current", corresponding to equal and opposite flow on the two legs. We vary the strength of the hopping across the rungs of the ladder and the interaction between the bosons. We find three phases: (1) A "saturated chiral current phase" (SCCP), where the density is uniform and the chiral current is simply related to the strength of the magnetic field. In this state the only broken symmetry is the $U(1)$ condensate phase. (2) A "biased ladder phase" (BLP), where the density is higher on one leg than the other. The fluid velocity is higher on the lower density leg, so the net current is zero. In addition to the $U(1)$ condensate phase, this has a broken $Z_2$ reflection symmetry. (3) A "modulated density phase" (MDP), where the atomic density is modulated along the ladder. In addition to the $U(1)$ condensate phase, this has a second broken $U(1)$ symmetry corresponding to translations of the density wave. We further study the fluctuations of the condensate in the BLP, finding a roton-maxon like excitation spectrum. Decreasing the hopping along the rungs softens the spectrum. As the energy of the "roton" reaches to zero, the BLP becomes unstable. We describe the experimental signatures of these phases, including the response to changing the frequency of the Raman transition.

cond-mat.quant-gas↗

arXiv2013

Magnetic field dependence of Raman coupling in Alkali atoms

We calculate the magnetic field dependence of Rabi rates for two-photon optical Raman processes in alkali atoms. Due to a decoupling of the nuclear and electronic spins, these rates fall with increasing field. At the typical magnetic fields of alkali atom Feshbach resonances (B\sim 200G-1200G), the Raman rates have the same order of magnitude as their zero field values, suggesting one can combine Raman-induced gauge fields/spin-orbital coupling with strong Feshbach-induced interactions. The exception is $^6$Li, where there is a factor of 7 suppression in the Raman coupling, compared to its already small zero-field value.

cond-mat.quant-gas↗

arXiv2013

Modulating the phase structure of black D6 branes in canonical ensemble

There exists a dramatic difference in phase structure between charged black Dp-branes with $p < 5$ and charged black D5 or D6 branes. In [1], we found that the phase structure of charged black D5 system can be changed qualitatively to that of charged black Dp with $p < 5$ by adding the delocalized D1 branes but the similar change does not happen for the charged black D6 system through adding the delocalized D2 branes (Note that both D1/D5 and D2/D6 belong to the same type of D(p - 4)/Dp system). Adding the delocalized D4 branes to the black D6 branes doesn't work, either. In this paper, we consider adding the delocalized D0 branes, the only remaining lower dimensional branes, to the black D6 system for this purpose. We find that the delocalized charged black D0-branes alone share the same phase structure as the charged black D6 branes, having no van der Waals-Maxwell liquid-gas type. However, when the two are combined to form D0/D6, the resulting phase diagram finally gets changed dramatically to the wanted one, containing now the above liquid-gas type. This change arises from the interaction between D6 and the delocalized D0.

hep-th↗

arXiv2012

The phase structure of black D1/D5 (F/NS5) system in canonical ensemble

In this paper, we explore means which can be used to change qualitatively the phase structure of charged black systems. For this, we consider a system of black D1/D5 (or its S-dual F/NS5). We find that the delocalized charged black D-strings (F-strings) alone share the same phase structure as the charged black D5 branes (NS5-branes), having no van der Waals-Maxwell liquid-gas type. However, when the two are combined to form D1/D5 (F/NS5), the resulting phase diagram has been changed dramatically to a richer one, containing now the above liquid-gas type. The effect of adding the charged D-strings (F-strings) on the phase structure can also be effectively described as a slight increase of the transverse dimensions to the original D5 (NS5). This may be viewed as a connection between a brane charge and a fraction of spatial dimension at least in a thermodynamical sense.

hep-th↗

arXiv2012

Majorana fermions in one-dimensional spin-orbit coupled Fermi gases

We theoretically study trapped one-dimensional Fermi gases in the presence of spin-orbit coupling induced by Raman lasers. The gas changes from a conventional (non-topological) superfluid to a topological superfluid as one increases the intensity of the Raman lasers above a critical chemical-potential dependent value. Solving the Bogoliubov-de Gennes equations self-consistently, we calculate the density of states in real and momentum space at finite temperatures. We study Majorana fermions (MFs) which appear at the boundaries between topologically trivial and topologically non-trivial regions. We linearize the trap near the location of a MF, finding an analytic expression for the localized MF wavefunction and the gap between the MF state and other edge states.

cond-mat.quant-gas↗

arXiv2012

Pair density waves and vortices in an elongated two-component Fermi gas

We study the vortex structures of a two-component Fermi gas experiencing a uniform effective magnetic field in an anisotropic trap that interpolates between quasi-one dimensional (1D) and quasi-two dimensional (2D). At a fixed chemical potential, reducing the anisotropy (or equivalently increasing the attractive interactions or increasing the magnetic field) leads to instabilities towards pair density waves, and vortex lattices. Reducing the chemical potential stabilizes the system. We calculate the phase diagram, and explore the density and pair density. The structures are similar to those predicted for superfluid Bose gases. We further calculate the paired fraction, showing how it depends on chemical potential and anisotropy.

cond-mat.quant-gas↗

arXiv2011

Vortex structures of a two-component BEC for large anisotropies

We calculate the vortex structures of an elongated two-component Bose-Einstein condensate. We study how these structures depend on the intra-component and inter-component interaction strengths. We present analytic and numeric results respectively at weak and strong interactions; finding lattices with different interlocking geometries: triangular, square, rectangular and double-core.

cond-mat.quant-gas↗