SearcharxivSearch

arXiv subjects

Zhiwei Wu

Publications and source records attributed to Zhiwei Wu.

At least 19 recordsLinked to original sources

Loop Algebra Splitting and Darboux Transformations for Nonlocal Derivative Nonlinear Schr\"odinger Hierarchies

We develop a unified algebraic framework for nonlocal derivative nonlinear Schr\"odinger (DNLS)-type hierarchies based on loop algebra splittings. Within this framework, nonlocal and reverse space-time reductions are realized through algebraic constraints, leading to the corresponding integrable hierarchies. By constructing simple elements and establishing the associated factorization theory, we derive Darboux transformations (DTs). And apply DTs to construct explicit solutions.

nlin.SI

Closed-Form Pose Estimation of Endoluminal Medical Devices via Gradiometer-Based Electromagnetic Localization System

Embedded magnetic tracking holds highly attractive prospects for remote navigation of endoluminal medical devices. However, existing six-degree-of-freedom pose recovery approaches often require pre-calibrated workspace field maps or iterative nonlinear optimization. This letter presents a Gradiometer-Based Electromagnetic Localization System (GELS), a closed-form tracking framework that uses a compact magnetometer array as an embedded quasi-gradiometer to estimate local magnetic fields and gradient tensors. These quantities are mapped by the Euler homogeneous relation to displacements between source and array, from which multi-source Procrustes registration recovers the array orientation and position using at least three non-collinear sources. The algorithm requires known source positions and array geometry, but no pre-calibrated workspace field maps, initial pose guesses, or calibrated excitation-source moments. The recovered pose also enables a proof-of-concept sub-level dipole localization task by serving as a mobile magnetic reference frame. Benchtop experiments across sensor-array configurations and excitation modes demonstrate sequence-averaged position errors of \SI{10.80}{\milli\meter}--\SI{15.57}{\milli\meter}, a fastest update rate of \SI{14.49}{\hertz}, and a median solver runtime of \SI{172.00}{\micro\second}. A perturbation-based error propagation analysis further identifies inter-sensor inconsistency and dipole-model mismatch as the dominant accuracy limits, thereby informing future sensor array and magnetic source design for further reducing pose-estimation error.

cs.RO

Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation

Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates equilibrium computation with kinematic performances by evaluating Riemannian Jacobian spectra on the equilibrium manifold shaped by internal/external loading. The resulting framework yields a global performance functional that directly links structural parameters, actuation inputs, and the induced configuration space geometry. We apply this general framework to magnetic actuation. Analytical characterization is obtained under weak uniform fields, revealing optimal placement and orientation of the embedded magnet with invariant scale properties. To address nonlinear deformation and spatially varying fields, a two-level optimization algorithm is developed that alternates between energy based equilibrium search and gradient based structural updates. Simulations and physical experiments across uniform field, dipole field, and multi-magnet configurations demonstrate consistent structural tendencies: aligned moments favor distal or mid-distal solutions through constructive torque amplification, whereas opposing moments compress optimal designs toward proximal regions due to intrinsic cancellation zones.

cs.RO

On a matrix constrained CKP hierarchy

The algebraic structures of integrable hierarchies play an important role in the study of soliton equations. In this paper, we use splitting theory to give a matrix representation of a constrained CKP hierarchy, which can be considered as a generalization of the $\hat{A}_{2n}^{(2)}$-KdV hierarchy and the constrained KP hierarchy. An equivalent construction in terms of the pseudo-differential operator is discussed. Darboux transformations, scaling transformation and tau functions $\ln τ_f$ for this constrained hierarchy are studied. Moreover, we present formulas for the Virasoro vector fields on $\ln τ_f$ for the $\hat{A}_{2 n}^{(2)}$-KdV hierarchy.

nlin.SI

On a class of third order differential equations describing pseudospherical or spherical surfaces

In this paper, we study third order nonlinear partial differential equations which describe surfaces of constant curvature. From the flatness of connection 1-forms, we present a classification of equations with the type $u_t - u_{xxt} = λu^2 u_{xxx} + G(u, u_x, u_{xx}) (λ\in\mathbb{R})$, which describe pseudospherical or spherical surfaces. We show that series of typical soliton equations belong to certain subclass, such as the generalized Camassa-Holm equation, which gives a geometric explanation to these equations.

math-ph

Topology-Inspired Morphological Descriptor for Soft Continuum Robots

This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative characterization of robot morphologies. By counting critical points of directional projections, the proposed descriptor enables a discrete representation of multimodal configurations and facilitates morphological classification. Furthermore, we apply the descriptor to morphology control by formulating the target configuration as an optimization problem to compute actuation parameters that generate equilibrium shapes with desired topological features. The proposed framework provides a unified methodology for quantitative morphology description, classification, and control of soft continuum robots, with the potential to enhance their precision and adaptability in medical applications such as minimally invasive surgery and endovascular interventions.

cs.RO

Closed-Loop Magnetic Control of Medical Soft Continuum Robots for Deflection

Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability. Effective closed-loop control of tethered magnetic devices contributes to the achievement of autonomous vascular robotic surgery. In this article, we employ a magnetic actuation system equipped with a single rotatable permanent magnet to achieve closed-loop deflection control of the MSCR. To this end, we establish a differential kinematic model of MSCRs exposed to non-uniform magnetic fields. The relationship between the existence and uniqueness of Jacobian and the geometric position between robots is deduced. The control direction induced by Jacobian is demonstrated to be crucial in simulations. Then, the corresponding quasi-static control (QSC) framework integrates a linear extended state observer to estimate model uncertainties. Finally, the effectiveness of the proposed QSC framework is validated through comparative trajectory tracking experiments with the PD controller under external disturbances. Further extensions are made for the Jacobian to path-following control at the distal end position. The proposed control framework prevents the actuator from reaching the joint limit and achieves fast and low error-tracking performance without overshooting.

cs.RO

Geometric aspects of Miura transformations

The Miura transformation plays a crucial role in the study of integrable systems. There have been various extensions of the Miura transformation, which have been used to relate different kinds of integrable equations and to classify the bi-Hamiltonian structures. In this paper, we are mainly concerned with the geometric aspects of the Miura transformation. The generalized Miura transformations from the mKdV-type hierarchies to the KdV-type hierarchies are constructed under both algebraic and geometric settings. It is shown that the Miura transformations not only relate integrable curve flows in different geometries but also induce the transition between different moving frames. Other geometric formulations are also investigated.

nlin.SI

Tunable photochemical deposition of silver nanostructures on layered ferroelectric CuInP$_2$S6

2D layered ferroelectric materials such as CuInP$_2$S6 (CIPS) are promising candidates for novel and high-performance photocatalysts, owning to their ultrathin layer thickness, strong interlayer coupling, and intrinsic spontaneous polarization, while how to control the photocatalytic activity in layered CIPS remains unexplored. In this work, we report for the first time the photocatalytic activity of ferroelectric CIPS for the chemical deposition of silver nanostructures (AgNSs). The results show that the shape and spatial distribution of AgNSs on CIPS are tunable by controlling layer thickness, environmental temperature, and light wavelength. The ferroelectric polarization in CIPS plays a critical role in tunable AgNS photodeposition, as evidenced by layer thickness and temperature dependence experiments. We further reveal that AgNS photodeposition process starts from the active site creation, selective nanoparticle nucleation/aggregation, to the continuous film formation. Moreover, AgNS/CIPS heterostructures prepared by photodeposition exhibit excellent resistance switching behavior and good surface enhancement Raman Scattering activity. Our findings provide new insight into the photocatalytic activity of layered ferroelectrics and offer a new material platform for advanced functional device applications in smart memristors and enhanced chemical sensors.

cond-mat.mtrl-sci

AO2-DETR: Arbitrary-Oriented Object Detection Transformer

Arbitrary-oriented object detection (AOOD) is a challenging task to detect objects in the wild with arbitrary orientations and cluttered arrangements. Existing approaches are mainly based on anchor-based boxes or dense points, which rely on complicated hand-designed processing steps and inductive bias, such as anchor generation, transformation, and non-maximum suppression reasoning. Recently, the emerging transformer-based approaches view object detection as a direct set prediction problem that effectively removes the need for hand-designed components and inductive biases. In this paper, we propose an Arbitrary-Oriented Object DEtection TRansformer framework, termed AO2-DETR, which comprises three dedicated components. More precisely, an oriented proposal generation mechanism is proposed to explicitly generate oriented proposals, which provides better positional priors for pooling features to modulate the cross-attention in the transformer decoder. An adaptive oriented proposal refinement module is introduced to extract rotation-invariant region features and eliminate the misalignment between region features and objects. And a rotation-aware set matching loss is used to ensure the one-to-one matching process for direct set prediction without duplicate predictions. Our method considerably simplifies the overall pipeline and presents a new AOOD paradigm. Comprehensive experiments on several challenging datasets show that our method achieves superior performance on the AOOD task.

cs.CV

Darboux Transforms for the $\hat B_{n}^{(1)}$-hierarchy

The $\hat B_n^{(1)}$-hierarchy is constructed from the standard splitting of the affine Kac-Moody algebra $\hat B_n^{(1)}$, the Drinfeld-Sokolov $\hat B_n^{(1)}$-KdV hierarchy is obtained by pushing down the $\hat B_n^{(1)}$-flows along certain gauge orbit to a cross section of the gauge action. In this paper, we (1) use loop group factorization to construct Darboux transforms (DTs) for the $\hat B_n^{(1)}$-hierarchy, (2) give a Permutability formula and scaling transform for these DTs, (3) use DTs of the $\hat B_{n}^{(1)}$-hierarchy to construct DTs for the $\hat B_n^{(1)}$-KdV and the isotropic curve flows of B-type, (4) give algorithm to construct soliton solutions and write down explicit soliton solutions for the third $\hat B_1^{(1}$-KdV, $\hat B_2^{(1)}$-KdV flows and isotropic curve flows on $\mathbb{R}^{2,1}$ and $\mathbb{R}^{3,2}$ of B-type.

nlin.SI

Smooth positon solutions of the focusing modified Korteweg-de Vries equation

The $n$-fold Darboux transformation $T_{n}$ of the focusing real mo\-di\-fied Kor\-te\-weg-de Vries (mKdV) equation is expressed in terms of the determinant representation. Using this representation, the $n$-soliton solutions of the mKdV equation are also expressed by determinants whose elements consist of the eigenvalues $λ_{j}$ and the corresponding eigenfunctions of the associated Lax equation. The nonsingular $n$-positon solutions of the focusing mKdV equation are obtained in the special limit $λ_{j}\rightarrowλ_{1}$, from the corresponding $n$-soliton solutions and by using the associated higher-order Taylor expansion. Furthermore, the decomposition method of the $n$-positon solution into $n$ single-soliton solutions, the trajectories, and the corresponding "phase shifts" of the multi-positons are also investigated.

nlin.SI

Weakly integrable Camassa-Holm-type equations

Series of deformed Camassa-Holm-type equations are constructed using the Lagrangian deformation and Loop algebra splittings. They are weakly integrable in the sense of modified Lax pairs.

nlin.SI

New Hierarchies of Derivative nonlinear Schrödinger-Type Equation

We generate hierarchies of derivative nonlinear Schrödinger-type equations and their nonlocal extensions from Lie algebra splittings and automorphisms. This provides an algebraic explanation of some known reductions and newly established nonlocal reductions in integrable systems.

nlin.SI

Isotropic curve flows on $R^{n+1, n}$

Let $R^{n+1, n}$ be the vector space $R^{2n+1}$ equipped with the bilinear form $(X,Y)=X^t C_n Y$ of index $n$, where $C_n= \sum_{i=1}^{2n+1} (-1)^{n+i-1} e_{i, 2n+2-i}$. A smooth $γ: R\to R^{n+1,n}$ is {\it isotropic} if $γ, γ_x, \ldots, γ_x^{(2n)}$ are linearly independent and the span of $γ, \ldots, γ_x^{(n-1)}$ is isotropic. Given an isotropic curve, we show that there is a unique up to translation parameter such that $(γ_x^{(n)}, γ_x^{(n)})=1$ (we call such parameter the isotropic parameter) and there also exists a natural moving frame. In this paper, we consider two sequences of curve flows on the space of isotropic curves parametrized by isotropic parameter. We show that differential invariants of these isotropic curves satisfy Drinfeld-Sokolov's KdV type soliton hierarchies associated to the affine Kac-Moody algebra $\hat B_n^{(1)}$ and $\hat A_{2n}^{(2)}$ Then we use techniques from soliton theory to construct bi-Hamiltonian structure, conservation laws, Backlund transformations and permutability formulas for these curve flows.

math.DG

N-dimension Central Affine Curve Flows

We construct a sequence of commuting central affine curve flows on $R^n\backslash 0$ invariant under the action of $SL(n,R)$ and prove the following results: (a) The central affine curvatures of a solution of the j-th central affine curve flow is a solution of the j-th flow of Gelfand-Dickey (GD$_n$) hierarchy on the space of n-th order differential operators. (b) We use the solution of the Cauchy problems of the GD$_n$ flow to solve the Cauchy problems for the central affine curve flows with periodic initial data and also with initial data whose central affine curvatures are rapidly decaying. (c) We obtain a bi-Hamiltonian structure for the central affine curve flow hierarchy and prove that it arises naturally from the Poisson structures of certain co-adjoint orbits. (d) We construct Backlund transformations, infinitely many families of explicit solutions and give a permutability formula for these curve flows.

math.DG

Bäcklund transformations for Gelfand-Dickey flows, revisited

We construct Bäcklund transformations (BT) for the Gelfand-Dickey hierarchy (GD$_n$-hierarchy) on the space of $n$-th order differential operators on the line. Suppose $L=\partial_x^n-\sum_{i=1}^{n-1}u_i\partial_x^{(i-1)}$ is a solution of the $j$-th GD$_n$ flow. We prove the following results: (1) There exists a system (BT)$_{u,k}$ of non-linear ordinary differential equations for $h:R^2\to C$ depending on $u_1, \ldots, u_{n-1}$ in $x$ and $t$ variables such that $\tilde L= (\partial+h)^{-1}L(\partial+h)$ is a solution of the $j$-th GD$_n$ flow if and only if $h$ is a solution of (BT)$_{u,k}$ for some parameter $k$. Moreover, coefficients of $\tilde L$ are differential polynomials of $u$ and $h$. We say such $\tilde L$ is obtained from a BT with parameter $k$ from $L$. (2) (BT)$_{u,k}$ is solvable. (3) There exists a compatible linear system for $ϕ:R^2\to C$ depending on a parameter $k$, such that if $ϕ_1, \ldots, ϕ_{n-1}$ are linearly independent solutions of this linear system then $h:=(\ln W(ϕ_1, \ldots, ϕ_{n-1}))_x$ is a solution of (BT)$_{u,k}$ and $(\partial+h)^{-1} L (\partial+h)$ is a solution of the $j$-th GD$_n$ flow, where $W(ϕ_1,\ldots,ϕ_{n-1})$ is the Wronskian Moreover, these give all solutions of (BT)$_{u,k}$. (4) We show that the BT for the GD$_n$ hierarchy constructed by M. Adler is our BT with parameter $k=0$. (5) We construct a permutability formula for our BTs and infinitely many families of explicit rational solutions and soliton solutions.

nlin.SI

Central Affine Curve Flow on the Plane

We give the following results for Pinkall's central affine curve flow on the plane: (i) a systematic and simple way to construct the known higher commuting curve flows, conservation laws, and a bi-Hamiltonian structure, (ii) Baecklund transformations and a permutability formula, (iii) infinitely many families of explicit solutions. We also solve the Cauchy problem for periodic initial data.

math.DG