TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial serialization. Our formulation can generate messages that can be divided into two parts. During message transmission, one part is transmitted through a socket and the other part uses shared memory. The part within shared memory is never copied or serialized during its lifetime. We have integrated TZC with ROS and ROS2 and find that TZC can be easily combined with current open-source platforms. By using TZC, the overhead of IPC remains constant when the message size grows. In particular, when the message size is 4MB (less than the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2 IPC from hundreds of milliseconds to less than 1 millisecond. We also demonstrate the benefits of TZC by integrating with TurtleBot2 that are used in autonomous driving scenarios. We show that by using TZC, the braking distance can be shortened by 16% than ROS

Exceptional Points in a Non-Hermitian Topological Pump

We investigate the effects of non-Hermiticity on topological pumping, and uncover a connection between a topological edge invariant based on topological pumping and the winding numbers of exceptional points. In Hermitian lattices, it is known that the topologically nontrivial regime of the topological pump only arises in the infinite-system limit. In finite non-Hermitian lattices, however, topologically nontrivial behavior can also appear. We show that this can be understood in terms of the effects of encircling a pair of exceptional points during a pumping cycle. This phenomenon is observed experimentally, in a non-Hermitian microwave network containing variable gain amplifiers.Comment: 7 pages, 7 figures. The first author did the experiment, and the second author did the theoretical stud

The evolution of magnetic structure driven by a synthetic spin-orbit coupling in two-component Bose-Hubbard model

We study the evolution of magnetic structure driven by a synthetic spin-orbit coupling in a one-dimensional two-component Bose-Hubbard model. In addition to the Mott insulator-superfluid transition, we found in Mott insulator phases a transition from a gapped ferromagnetic phase to a gapless chiral phase by increasing the strength of spin-orbit coupling. Further increasing the spin-orbit coupling drives a transition from the gapless chiral phase to a gapped antiferromagnetic phase. These magnetic structures persist in superfluid phases. In particular, in the chiral Mott insulator and chiral superfluid phases, incommensurability is observed in characteristic correlation functions. These unconventional Mott insulator phase and superfluid phase demonstrate the novel effects arising from the competition between the kinetic energy and the spin-orbit coupling.Comment: 9 fig; English polished, note adde

Hubble Tension: The Evidence of New Physics

The $\Lambda$CDM model provides a good fit to most astronomical observations but harbors large areas of phenomenology and ignorance. With the improvements in the precision and number of observations, discrepancies between key cosmological parameters of this model have emerged. Among them, the most notable tension is the 4$\sigma$ to 6$\sigma$ deviation between the Hubble constant ($H_{0}$) estimations measured by the local distance ladder and the cosmic microwave background (CMB) measurement. In this review, we revisit the $H_{0}$ tension based on the latest research and sort out evidence from solutions to this tension that might imply new physics beyond the $\Lambda$CDM model. The evidence leans more towards modifying the late-time universe.Comment: 39 pages, 6 figures, 3 tables, accepted for publication in Universe (invited review for Special Issue: Advances in Astrophysics and Cosmology - in Memory of Prof. Tan Lu