Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A* and Dijkstra) into an efficient kinodynamic search, by exploring the properties of B-spline parameterization. The RBK search is greedy and produces a dynamically feasible time-parameterized trajectory efficiently, which facilitates non-static initial state of the quadrotor. To cope with the limitation of the greedy search and the discretization induced by a grid structure, we adopt an elastic optimization (EO) approach as a post-optimization process, to refine the control point placement provided by the RBK search. The EO approach finds the optimal control point placement inside an expanded elastic tube which represents the free space, by solving a Quadratically Constrained Quadratic Programming (QCQP) problem. We design a receding horizon replanner based on the local control property of B-spline. A systematic comparison of our method against two state-of-the-art methods is provided. We integrate our replanning system with a monocular vision-based quadrotor and validate our performance onboard.Comment: 8 pages. Published in International Conference on Robotics and Automation (ICRA) 2018. IEEE copyrigh

Form-NLU: Dataset for the Form Language Understanding

Compared to general document analysis tasks, form document structure understanding and retrieval are challenging. Form documents are typically made by two types of authors; A form designer, who develops the form structure and keys, and a form user, who fills out form values based on the provided keys. Hence, the form values may not be aligned with the form designer's intention (structure and keys) if a form user gets confused. In this paper, we introduce Form-NLU, the first novel dataset for form structure understanding and its key and value information extraction, interpreting the form designer's intent and the alignment of user-written value on it. It consists of 857 form images, 6k form keys and values, and 4k table keys and values. Our dataset also includes three form types: digital, printed, and handwritten, which cover diverse form appearances and layouts. We propose a robust positional and logical relation-based form key-value information extraction framework. Using this dataset, Form-NLU, we first examine strong object detection models for the form layout understanding, then evaluate the key information extraction task on the dataset, providing fine-grained results for different types of forms and keys. Furthermore, we examine it with the off-the-shelf pdf layout extraction tool and prove its feasibility in real-world cases.Comment: Accepted by SIGIR 202

An analytic model of typhoon wind field and simulation of storm tides

Storm tides have intensified due to global climate warming, with limited attention given to storm current velocity (SCV) due to data scarcity during hurricanes/typhoons and limitations in existing wind models’ accuracy. We propose an analytic model incorporating sea-surface resistance into the gradient wind equation, offering a theoretically robust approach. Through rigorous verification against measured data, our model demonstrates significant accuracy improvement compared to established models. Simulating storm tides during Typhoon Rammasun using our approach reveals strong agreement between calculated SCVs and measured data, surpassing the performance of the Holland model. Notably, typhoon storm surges primarily respond to pressure, while SCVs are predominantly governed by wind speed in open sea. The highest water level aligns with the lowest pressure, with maximum SCVs trailing the maximum wind radius. SCVs significantly exceed astronomical tidal current velocities (ACVs) in the open sea, reaching a maximum of 3.57 m/s. Areas where the SCV-to-ACV ratio exceeds 3 constitute 21.4% of the study area. Combining our wind model with Typhoon SCV simulations provides valuable insights into storm tide dynamics, advancing our understanding of storm tide mechanisms and informing mitigation strategies

Real-time Monitoring for the Next Core-Collapse Supernova in JUNO

Core-collapse supernova (CCSN) is one of the most energetic astrophysical events in the Universe. The early and prompt detection of neutrinos before (pre-SN) and during the SN burst is a unique opportunity to realize the multi-messenger observation of the CCSN events. In this work, we describe the monitoring concept and present the sensitivity of the system to the pre-SN and SN neutrinos at the Jiangmen Underground Neutrino Observatory (JUNO), which is a 20 kton liquid scintillator detector under construction in South China. The real-time monitoring system is designed with both the prompt monitors on the electronic board and online monitors at the data acquisition stage, in order to ensure both the alert speed and alert coverage of progenitor stars. By assuming a false alert rate of 1 per year, this monitoring system can be sensitive to the pre-SN neutrinos up to the distance of about 1.6 (0.9) kpc and SN neutrinos up to about 370 (360) kpc for a progenitor mass of 30$M_{\odot}$ for the case of normal (inverted) mass ordering. The pointing ability of the CCSN is evaluated by using the accumulated event anisotropy of the inverse beta decay interactions from pre-SN or SN neutrinos, which, along with the early alert, can play important roles for the followup multi-messenger observations of the next Galactic or nearby extragalactic CCSN.Comment: 24 pages, 9 figure

Terahertz Spectral Properties of 5-Substituted Uracils

Applications of terahertz time-domain spectroscopy (THz-TDS) in the fields of chemistry and biomedicine have recently received increased attention. Specifically, THz-TDS is particularly effective for the identification of alkaloid molecules, because it can distinguish the vibration types of base molecules in the THz band and provide a direct characteristic spectrum for the configuration and conformation of biomolecules. However, when THz-TDS technology is used to identify alkaloid molecules, most of them are concentrated in the 0.1–3.0 THz band, limiting the amount of information that can be obtained. In this work, a wide-spectrum THz-TDS system was independently built to explore the absorption spectra of uracil and its 5-substituents in the range of 1.3–6.0 THz. We found that, in the THz band, uracil and its 5-substituents have similar absorption peaks near 4.9 and 3.3 THz, while the 5-substituents have an additional absorption peak in the range of 1.5–2.5 THz. This absorption peak is red-shifted as the relative atomic mass of the 5-substituted atoms increases. Gaussian software was adopted to calculate the absorption spectra of the samples. The simulation conclusions were in good agreement with the experimental results, revealing that the vibration of the base molecule at low frequencies can be attributed to the inter-molecular vibration. This work demonstrates that THz-TDS technology can be used to accurately identify biomolecules with similar molecular structures, reflecting the importance of molecular structure in biological activity

Controllable synthesis of WS2(1-x)Se2x monolayers with fast photoresponse by a facile chemical vapor deposition strategy

Two-dimensional transition metal dichalcogenides (TMDs) alloys such as WS2(1-x)Se2x have attracted much interest in the fundamental science and device fabrication for their composition-tunable chemical and physical properties. However, the traditional chemical vapor deposition (CVD) methods often rely on precursors with high melting point such as WO3, WS2 and WSe2. Here, we report a facile CVD strategy for the formation of high quality WS2(1-x)Se2x monolayers with composition-tunable optical and electronic properties by using highly evaporated sodium tungstate dihydrate (Na2WO4·2H2O) precursor as W source. The as-grown samples exhibit uniform allocation of W, S, and Se elements across the domain and the Se (or S) composition can be continually modulated from 0 to 2. The band gap evolves continuously from 1.97 eV for WS2 to intermediate value for WS2(1-x)Se2x and then to 1.63 eV for WSe2. Electrical transport studies further reveal the transition from n-type for WS2 to bipolar (or slightly n-type) for WS2(1-x)Se2x and then to p-type for WSe2. Furthermore, the as-grown WS2(1-x)Se2x-photodetectors exhibit good photo response to visible light (532 nm) with a fast response time of about 20 ms. Our facile and precise synthesis strategy can be used as a general route to fabricating such composition modulated 2D TMD alloys for optoelectronic applications.</p

Failure probability analysis of high fill levee considering multiple uncertainties and correlated failure modes

Abstract Such complex causative factors in current failure probability models are represented by simply random uncertainty and completely independent or correlation of failure modes, which can often limit the model utility. In this study, we developed a methodology to construct failure probability models for high fill levees, incorporating the identification of uncertainties and an analysis of failure modes. Based on quantification of stochastic-grey-fuzzy uncertainties, probability analysis involved with overtopping, instability and seepage failure modes was implemented combined with probability and non-probability methods. Given that the interaction among failure modes typically exhibits nonlinear behavior, rather than linear correlation or complete independence, a simple methodology for the binary Copula function was established and implemented in MATLAB. This methodology was applied to the high fill segments of a long-distance water transfer project characterized by high population density. It shows that the failure probability of a single failure mode is overestimated when uncertainties are not considered, because of the randomness and fuzziness of some parameters and the greyness of information. Meanwhile, it is found that the magnitude of failure probability related to levee breach is overestimated without respect to failure modes correlation, especially when the probabilities of seepage and instability are both significant and closely aligned

Hydraulic characteristics of emerged rigid and submerged flexible vegetations in the riparian zone

Flow resistance, velocity distribution, and turbulence intensity are significantly influenced by aquatic vegetations (AV) in riparian zones. Understanding the hydraulics of flow with planted floodplains is of great significance for determining the velocity distribution profile and supporting the fluvial processes management. However, the traditional flume experiment method is inefficient. Therefore, the multigroup simultaneous flume test method was carried out to describe the flow patterns affected by emerged rigid (reed and wooden stick) and submerged flexible vegetations (grass and chlorella). The Acoustic Doppler Velocimeter (ADV) was utilized to measure the velocity at one point for different experimental conditions. The results showed that hydraulic features were influenced by different types of vegetation. Furthermore, the relative depth (z/h) was a determining factor of those variations. In addition, the time-averaged velocity distributions of planted floodplains are not logarithmic. Instead, they represented “s-shape” profiles. In detail, for the vegetated floodplains, reed and wood followed an s-shape profile, but for grass and chlorella, they followed reverse s-shape profile. For all cases, turbulence is not isotropic and the change law of turbulence intensity is different in different sections. The flow resistance, turbulence intensities, and Reynold stresses influenced by different types of vegetation were also analyzed.Materials- Mechanics- Management & Desig