Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains

In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extracting relevant information becomes a complex problem, which hinders adequate perception and path planning. Previous works have shown promising performances in extracting global features from full-sized images. However, they often face challenges in capturing essential local information. In this paper, we propose Crop-LSTM, which iteratively takes cropped image patches around the current robot's position and predicts the future position, orientation, and bumpiness. Our method performs local feature extraction by paying attention to corresponding image patches along the predicted robot trajectory in the 2D image plane. This enables more accurate predictions of the robot's future trajectory. With our wheeled mobile robot platform Raicart, we demonstrated the effectiveness of Crop-LSTM for point-goal navigation in an unpaved outdoor environment. Our method enabled safe and robust navigation using RGBD images in challenging unpaved outdoor terrains. The summary video is available at https://youtu.be/iIGNZ8ignk0.Comment: 8 pages, 10 figure

Unidirectional emission of high-Q scarred modes in a rounded D-shape microcavity

We propose a deformed microcavity laser, where a high-Q mode group emits unidirectionally. The cavity comprises three circular arcs and one linear section. To minimize diffraction effects from the boundary, three circular arcs and one linear section are tangentially connected. By adjusting the sizes and the positions of the two sub-circular arcs, unidirectionality is maximized. In an experiment with an InP based InGaAsP semiconductor microcavity laser, a lasing mode group localized on a period-7 unstable periodic orbit emits unidirectionally. In our resonance calculation, a high-Q factor is confirmed. © 2018 Optical Society of America under the terms of the OSA Open Access Publishing Agreement1

Chirality of a resonance in the absence of backscatterings

Chirality of a resonance localized on an islands chain is studied in a deformed Reuleaux triangular-shaped microcavity, where clockwise and counter clockwise traveling rays are classically separated. A resonance localized on a period-5 islands chain exhibits chiral emission due to the asymmetric cavity shape. Chirality is experimentally proved in a InGaAsP multiquantum-well semiconductor laser by showing that the experimental emission characteristics well coincide with the wave dynamical ones. (C) 2017 Optical Society of America1

Lowest threshold lasing modes localized on marginally unstable periodic orbits in a semiconductor microcavity laser

The lowest threshold lasing mode in a rounded D-shape microcavity is theoretically analyzed and experimentally demonstrated. To identify the lowest threshold lasing mode, we investigate threshold conditions of different periodic orbits by considering the linear gain condition due to the effective pumping region and total loss consisting of internal and scattering losses in ray dynamics. We compare the ray dynamical result with resonance mode analysis, including gain and loss. We find that the resonance modes localized on the pentagonal marginally unstable periodic orbit have the lowest threshold in our fabrication configuration. Our findings are verified by obtaining the path lengths and far-field patterns of lasing modes. © 2020 Optical Society of America under the terms of the OSA Open Access Publishing Agreement.1

Far-Field Correlations Verifying Non-Hermitian Degeneracy of Optical Modes

© 2022 American Physical Society.An experimental verification of an exceptional point (EP) in a stand-alone chaotic microcavity is a tough issue because as deformation parameters are fixed the traditional frequency analysis methods cannot be applied any more. Through numerical investigations with an asymmetric Reuleaux triangle microcavity (ARTM), we find that the eigenvalue difference of paired modes can approach near-zero regardless of nonorthogonality of the modes. In this case, for a definite verification of EPs in experiments, wave function coalescence should be confirmed. For this, we suggest the method of exploiting correlation of far-field patterns (FFPs), which is directly related to spatial mode patterns. In an ARTM, we demonstrate that the FFP correlation of paired modes can be used to confirm wave function coalescence when an eigenvalue difference approaches near zero.11Nsciescopu

Rayleigh scatterer-induced steady exceptional points of stable-island modes in a deformed optical microdisk

© 2021 Optical Society of America. A formation of second-order non-Hermitian degeneracies, called exceptional points (EPs), in a chaotic oval-shaped dielectric microdisk is studied. Different symmetric optical modes localized on a stable period-3 orbit coalesce to form chiral EPs. Unlike a circular microdisk perturbed by two scatterers (CTS), our proposed system requires only one scatterer to build chiral EPs. The scatterer positions for counterpropagating EP modes are far distant from one another and almost steady against varying scatterer sizes in contrast to the CTS case. Our results can contribute to establishing a more solid platform for EP-based-device applications with flexibility and easy feasibility in obtaining EPs.11Nsciescopu

Maximization of a frequency splitting on continuous exceptional points in asymmetric optical microdisks

We study a systematic formation of continuous exceptional points (EPs) in a fully-asymmetric optical microdisk. A parametric generation of chiral EP modes is investigated by analyzing asymmetricity-dependent coupling elements in an effective Hamiltonian. It is shown that given the external perturbation, the frequency splitting around EPs is scaled by the fundamental “strength” of EPs [J. Wiersig, Phys. Rev. Res. 4, 023121 (2022)] multiplied by the extra responding strength of the newly added perturbation. Our finding demonstrates that the sensitivity of EP-based sensors can be maximized by carefully examining the continuous formation of EPs.11Nsciescopu

Impact of non-Hermitian mode interaction on inter-cavity light transfer

© 2022 Chinese Laser PressUnderstanding inter-site mutual mode interaction in coupled physical systems is essential to comprehend large compound systems, as this local interaction determines the successive multiple inter-site energy transfer efficiencies. In the present study, we demonstrate that only the non-Hermitian coupling can correctly account for the light transfer between two coupled optical cavities. We also reveal that the non-Hermitian coupling effect becomes crucial as the system dimension decreases. Our results provide important insight for handling general-coupled devices in the subwavelength regime.11Nsciescopu

Effects of solute segregation on tensile properties and serration behavior in ultra-high-strength high-Mn TRIP steels

Austenitic high-Mn TWinning- and Transformation-Induced Plasticity (TWIP and TRIP) steels are strong candidates for GPa-grade cold-rolled steel sheets. The reduction in C or Mn content from high-Mn TWIP steels help generate a TRIP mechanism and prevent serration. However, these high-Mn TRIP steels show low yield strength because of the inherent characteristics of austenite, and often contain a band-shaped segregation of solutes, making the steels acts as hetero-structural materials. Therefore, in this study, we investigate the effects of compositionally-segregated microstructures on tensile properties and serration behavior in precipitation-hardened high-Mn TRIP steels. The present TRIP steels showed high yield strength (778-824 MPa) and an excellent strength-ductility balance, along with serration in their stress-strain curves which could not be explained by existing theories of dynamic strain aging. A considerable amount of martensite was formed step by step as localized deformation bands passed through the specimen gage section, which implied that the serration occurred only when the transformation rate increased substantially. In microstructural aspects, the martensitic transformation occurred sequentially along Mn-segregated bands due to differences in austenite stability and Mn content between high- and low-Mn bands, thereby leading to discontinuous transformation and consequently the serrated flow.11Nsciescopu

Surface Stabilization of a Formamidinium Perovskite Solar Cell Using Quaternary Ammonium Salt

Dimensionality engineering is an effective approach to improve the stability and power conversion efficiency (PCE) of perovskite solar cells (PSCs). A two-dimensional (2D) perovskite assembled from bulky organic cations to cover the surface of three-dimensional (3D) perovskite can repel ambient moisture and suppress ion migration across the perovskite film. This work demonstrates how the thermal stability of the bulky organic cation of a 2D perovskite affects the crystallinity of the perovskite and the optoelectrical properties of perovskite solar cells. Structural analysis of (FAPbI3)0.95(MAPbBr3)0.05 (FA = formamidinium ion, MA = methylammonium ion) mixed with a series of bulky cations shows a clear correlation between the structure of the bulky cations and the formation of surface defects in the resultant perovskite films. An organic cation with primary ammonium structure is vulnerable to a deprotonation reaction under typical perovskite-film processing conditions. Decomposition of the bulky cations results in structural defects such as iodide vacancies and metallic lead clusters at the surface of the perovskite film; these defects lead to a nonradiative recombination loss of charge carriers and to severe ion migration during operation of the device. In contrast, a bulky organic cation with a quaternary ammonium structure exhibits superior thermal stability and results in substantially fewer structural defects at the surface of the perovskite film. As a result, the corresponding PSC exhibits the PCE of 21.6% in a reverse current-voltage scan and a stabilized PCE of 20.1% with an excellent lifetime exceeding 1000 h for the encapsulated device under continuous illumination.11Nsciescopu