In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual ...In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.展开更多
The discovery of the Higgs boson of the Standard Model is arguably the greatest event in physics yet this century.In condensed matter,we have had'Higgs''modes for several decades,in the form of amplitude e...The discovery of the Higgs boson of the Standard Model is arguably the greatest event in physics yet this century.In condensed matter,we have had'Higgs''modes for several decades,in the form of amplitude excitations in superconductors,charge-densitywave materials and magnets.However,it is only within the last decade that we have developed the ability to control the Higgs mode,by driving systems through their展开更多
The deconfined quantum critical point (DQCP) describes a continuous phase transition between two phases that spontaneously breaks different symmetries [1]. Outside the realm of the Landau-Ginzburg-Wilson paradigm of p...The deconfined quantum critical point (DQCP) describes a continuous phase transition between two phases that spontaneously breaks different symmetries [1]. Outside the realm of the Landau-Ginzburg-Wilson paradigm of phase transitions which is based on the concept of order parameter, the DQCP represents the new paradigm of quantum matter which manifests the concepts of fractionalized excitations (spinons in the model realization of the DQCP-the JQ model [2,3]) and emergent gauge structure and symmetry [4].展开更多
Numerical simulations provide the first concrete evidence of 2D (U1) deconfined matter, an exotic phase whose existence has been pursued by both condensed-matter and high-energy physicists. An international research t...Numerical simulations provide the first concrete evidence of 2D (U1) deconfined matter, an exotic phase whose existence has been pursued by both condensed-matter and high-energy physicists. An international research team, led by Prof. MENG Ziyang from the Institute of Physics (IOP), Chinese Academy of Sciences (CAS) and comprised of Dr. XU Xiaoyan from Hong Kong University of Science and Technology, Associate Prof. QI Yang from Fudan University, Assistant Prof.展开更多
This paper presents a robust visual simultaneous localization and mapping(SLAM) system that leverages point and structural line features in dynamic man-made environments. Manhanttan world assumption is considered and ...This paper presents a robust visual simultaneous localization and mapping(SLAM) system that leverages point and structural line features in dynamic man-made environments. Manhanttan world assumption is considered and the structural line features in such man-made environments provide rich geometric constraint, e.g., parallelism. Such a geometric constraint can be therefore used to rectify 3 D maplines after initialization. To cope with dynamic scenarios, the proposed system are divided into four main threads including 2 D dynamic object tracking, visual odometry, local mapping and loop closing. The 2 D tracker is responsible to track the object and capture the moving object in bounding boxes. In such a case, the dynamic background can be excluded and the outlier point and line features can be effectively removed. To parameterize 3 D lines, we use Pl ¨ucker line coordinates in initialization and projection processes, and utilize the orthonormal representation in unconstrained graph optimization process. The proposed system has been evaluated in both benchmark datasets and real-world scenarios, which reveals a more robust performance in most of the experiments compared with the existing state-of-the-art methods.展开更多
基金supported by China Postdoctoral Science Foundation(2023M741882)the National Natural Science Foundation of China(6210322262273195)。
文摘In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.
基金supported by the Ministry of Science and Technology of China under Grant No.2016YFA0300502the National Science Foundation of China under Grant Nos.11421092 and 11574359+2 种基金the National Thousand-Young-Talents Program of Chinathe Condensed Matter Theory Visitors Program of Boston Universitythe NSF under Grant No.DMR-1410126 of USA
文摘The discovery of the Higgs boson of the Standard Model is arguably the greatest event in physics yet this century.In condensed matter,we have had'Higgs''modes for several decades,in the form of amplitude excitations in superconductors,charge-densitywave materials and magnets.However,it is only within the last decade that we have developed the ability to control the Higgs mode,by driving systems through their
基金funding support from the Ministry of Science and Technology of China through the National Key Research and Development Program (2016YFA0300502)the Strategic Priority Research Program of the Chinese Academy of Sciences(XDB28000000)+1 种基金the National Natural Science Foundation of China (11574359, 11674370) the DFG research unit FOR1807 and Mercator Fellow
文摘The deconfined quantum critical point (DQCP) describes a continuous phase transition between two phases that spontaneously breaks different symmetries [1]. Outside the realm of the Landau-Ginzburg-Wilson paradigm of phase transitions which is based on the concept of order parameter, the DQCP represents the new paradigm of quantum matter which manifests the concepts of fractionalized excitations (spinons in the model realization of the DQCP-the JQ model [2,3]) and emergent gauge structure and symmetry [4].
基金funding support from the Ministry of Science and Technology of China through the National Key Research and Development Program (2016YFA0300502, 2018YFA0305802)the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB28000000, XDPB08-4, XDB28040200)+2 种基金the National Natural Science Foundation of China (11574359, 11674370)the HKRGC through HKUST3/CRF/13G and C6026-16Wthe DFG research unit FOR1807
文摘Numerical simulations provide the first concrete evidence of 2D (U1) deconfined matter, an exotic phase whose existence has been pursued by both condensed-matter and high-energy physicists. An international research team, led by Prof. MENG Ziyang from the Institute of Physics (IOP), Chinese Academy of Sciences (CAS) and comprised of Dr. XU Xiaoyan from Hong Kong University of Science and Technology, Associate Prof. QI Yang from Fudan University, Assistant Prof.
基金supported by the Institute for Guo Qiang of Tsinghua University (Grant No. 2019GQG1023)the National Natural Science Foundation of China (Grant No. 61873140)the Independent Research Program of Tsinghua University (Grant No. 2018Z05JDX002)。
文摘This paper presents a robust visual simultaneous localization and mapping(SLAM) system that leverages point and structural line features in dynamic man-made environments. Manhanttan world assumption is considered and the structural line features in such man-made environments provide rich geometric constraint, e.g., parallelism. Such a geometric constraint can be therefore used to rectify 3 D maplines after initialization. To cope with dynamic scenarios, the proposed system are divided into four main threads including 2 D dynamic object tracking, visual odometry, local mapping and loop closing. The 2 D tracker is responsible to track the object and capture the moving object in bounding boxes. In such a case, the dynamic background can be excluded and the outlier point and line features can be effectively removed. To parameterize 3 D lines, we use Pl ¨ucker line coordinates in initialization and projection processes, and utilize the orthonormal representation in unconstrained graph optimization process. The proposed system has been evaluated in both benchmark datasets and real-world scenarios, which reveals a more robust performance in most of the experiments compared with the existing state-of-the-art methods.
