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A Parallel Mapping and Planning Strategy for Micro Aerial Vehicle

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Guidance, Navigation and Control 2022年第2期2卷 125-145页

作者： Zhuo Wang Qun Zong hongming Shen Bailing tian Hanchen Lu School of Electrical and Information Engineering Tianjin UniversityTianjin 300072P.R.China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing 100083P.R.China

Autonomous fight is a fundamental problem for various saplications of miaro aerial vehicles(MAVs).Thanks to the dewvelopment of *** and Control(GNC)techndogle,the rsearch on this problem i abo becoming ***,safe fight in unknown,dut tered enviouments remains an open question,epeaially with real-time reguirement on onboard *** paper propoes a framnework including prlelly mapping and planning and implements it on Graphics Pmocessing Unit(GPU).First,a spherical coomlinate proijection is used in the ocupency grid map to avold menory *** that,in the planning phase,a method baed on latice state space sampling is applied to obtain mutiple rajectorfe ***,we design a series of aoft constraints to ensure that the MAV is in a safe known space with optimal *** solving the cost for each trajectory and comparison,the optimal trajectory can be *** efectivenes of the propeed strategy is demonstrated through simulation testa.

关键词： Motion planning lattice planner parallel processing

Anisotropic magnetism and band evolution induced by ferromagnetic phase transition in titanium-based kagome ferromagnet SmTi_3Bi_4

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Science China(Physics,Mechanics & Astronomy) 2024年第6期67卷 137-145页

作者： Zhe Zheng Long Chen Xuecong Ji Ying Zhou Gexing Qu Mingzhe Hu Yaobo Huang hongming Weng tian Qian Gang Wang Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China School of Physics and Engineering Henan University of Science and TechnologyLuoyang 471023China Shanghai Synchrotron Radiation Facility Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201210China Songshan Lake Materials Laboratory Dongguan 523808China CAS Center for Excellence in Topological Quantum Computation Chinese Academy of SciencesBeijing 100190China

Kagome magnets with diverse topological quantum responses are crucial for next-generation topological *** anisotropic magnetism and band evolution induced by ferromagnetic phase transition(FMPT)is reported in a newly discovered titanium-based kagome ferromagnet Sm Ti3Bi4,which features a distorted Ti kagome lattice and Sm atomic zig-zag ***-dependent resistivity,heat capacity,and magnetic susceptibility reveal a ferromagnetic ordering temperature Tc of23.2 K.A large magnetic anisotropy,observed by applying the magnetic field along three crystallographic axes,identifies the b axis as the easy ***-resolved photoemission spectroscopy with first-principles calculations unveils the characteristic kagome motif,including the Dirac point at the Fermi level and multiple van Hove ***,a band splitting and gap closing attributed to FMPT is observed,originating from the exchange coupling between Sm 4 f local moments and itinerant electrons of the kagome Ti atoms,as well as the time-reversal symmetry breaking induced by the long-range ferromagnetic *** the large in-plane magnetization and the evolution of electronic structure under the influence of ferromagnetic ordering,such materials promise to be a new platform for exploring the intricate electronic properties and magnetic phases based on the kagome lattice.

关键词： kagome lattice anisotropic magnetism band splitting ferromagnetic phase transition ARPES

Los caminos del cielo

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今日中国（西文版） 2022年第7期 21-23页

作者： LIU hongming tian JINWEN 不详

Topological electronic states in HfRuP family superconductors

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npj Computational Materials 2019年第1期5卷 88-93页

作者： Yuting Qian Simin Nie Changjiang Yi Lingyuan Kong Chen Fang tian Qian Hong Ding Youguo Shi Zhijun Wang hongming Weng Zhong Fang Beijing National Laboratory for Condensed Matter Physics and Institute of PhysicsChinese Academy of SciencesBeijing100190China University of Chinese Academy of Sciences Beijing100049China Department of Materials Science and Engineering Stanford UniversityStanfordCA 94305USA CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of SciencesBeijing100190China Songshan Lake Materials Laboratory DongguanGuangdong 523808China

Based on the first-principles calculations and experimental measurements,we report that the hexagonal phase of ternary transition metal pnictides TT’X(T=Zr,Hf;T’=Ru;X=P,As),which are well-known noncentrosymmetric superconductors with relatively high transition temperatures,host nontrivial bulk *** the superconducting phase transition,we find that HfRuP belongs to a Weyl semimetal phase with 12 pairs of type-II Weyl points,while ZrRuAs,ZrRuP and HfRuAs belong to a topological crystalline insulating phase with trivial Fu-Kane Z_(2) indices but nontrivial mirror Chern ***-quality single crystal samples of the noncentrosymmetric superconductors with these two different topological states have been obtained and the superconductivity is verified *** wide-range band structures of ZrRuAs have been identified by ARPES and reproduced by theoretical *** with intrinsic superconductivity,the nontrivial topology of the normal state may generate unconventional superconductivity in both bulk and *** findings could largely inspire the experimental searching for possible topological superconductivity in these compounds.

关键词： nontrivial superconductors topological

Multiple Dirac points including potential spin-orbit Dirac points in nonsymmorphic HfGe0.92Te

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Science China(Physics,Mechanics & Astronomy) 2023年第1期66卷 155-163页

作者： Long Chen Liqin Zhou Ying Zhou Chen Liu Zhongnan Guo Ke Liao Shunye Gao Wenhui Fan Jinfeng Xu Yuxuan Guo Jia'ou Wang tian Qian hongming Weng Gang Wang Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China Beijing Synchrotron Radiation Facility Institute of High Energy PhysicsChinese Academy of SciencesBeijing 100049China Department of Chemistry School of Chemistry and Biological EngineeringUniversity of Science and Technology BeijingBeijing 100083China Songshan Lake Materials Laboratory Dongguan 523808China

The search for new materials with Dirac points has been a fascinating subject of condensed matter *** we first report the growth and band structure of HfGe_(0.92)Te single crystals featuring three different types of Dirac ***_(0.92)Te crystallizes in a nonsymmorphic tetragonal space group P4/nmm(No.129),having a square Ge-atom plane with vacancies of about 8%.Using angle-resolved photoemission spectroscopy(ARPES),the Dirac nodal line composed of conventional Dirac points vulnerable to spin-orbit coupling(SOC)is observed,accompanied by robust Dirac points protected by the nonsymmorphic symmetry against SOC and *** particular,spin-orbit Dirac points(SDPs)originating from the surface formed under significant SOC could exist based on ARPES and ***-two-dimensional(quasi-2D)characteristics are confirmed by angular-resolved ***_(0.92)Te bulk crystals can be easily exfoliated to flakes with a thickness of approximately 5 nm for the quasi-2D ***,HfGe_(0.92)Te provides a good platform to explore exotic topological phases or topological properties with three different types of Dirac points,which is a potential candidate to achieve novel 2D SDPs.

关键词： Dirac points spin-orbit coupling quasi-2D characteristics

Quantum Oscillations and Electronic Structure in the Large-Chern-Number Topological Chiral Semimetal PtGa

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Chinese Physics Letters 2020年第10期37卷 103-107页

作者： Sheng Xu Liqin Zhou Xiao-Yan Wang Huan Wang Jun-Fa Lin Xiang-Yu Zeng Peng Cheng hongming Weng tian-Long Xia Department of Physics Renmin University of ChinaBeijing 100872China Beijing Key Laboratory of Opto-electronic Functional Materials&Micro-nano Devices Renmin University of ChinaBeijing 100872China Beijing National Laboratory for Condensed Matter Physics and Institute of Physics Chinese Academy of SciencesBeijing 100190China CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of SciencesBeijing 100049China Songshan Lake Materials Laboratory Dongguan 523808China

We report the magnetoresistance(MR),de Haas-van Alphen(dHvA) oscillations and the electronic structures of single-crystal *** large unsaturated MR is observed with the magnetic field B ‖ [111].Evident dHvA oscillations with the B ‖ [001] configuration are observed,from which twelve fundamental frequencies are extracted and the spin-orbit coupling(SOC) induced band splitting is *** light cyclotron effective masses are extracted from the fitting by the thermal damping term of the Lifshitz-Kosevich *** with the calculated frequencies from the first-principles calculations,the dHvA frequencies F1/F3 and F11/F12are confirmed to originate from the electron pockets at F and R,*** first-principles calculations also reveal the existence of spin-3/2 Rarita-Schwinger-Weyl fermions and time-reversal doubling of the spin-1 excitation at Γ and R with large Chern numbers of ±4 when SOC is included.

关键词： doubling Chiral excitation

Ultra-wideband and Visual Odometry Based Relative Localization for Multi-UAV System

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Ultra-wideband and Visual Odometry Based Relative Localizati...

Tightly-coupled Lidar-inertial Odometry and Mapping in Real Time

第三十九届中国控制会议

作者： Yikai Zhang Bailing tian hongming Chen School of Electrical and Information Engineering Tianjin University

This paper proposes a relative localization algorithm for Multi-UAV system, in which each agent is able to estimate the relative position of its neighbor based on Ultra-wideband measurement and visual odometry information exchanged. The relative localization algorithm consists of two parts. Visual odometry pre-process part fuses the IMU data and radar altimeter data to correct visual odometry error and reach a higher update rate to ensure flight smoothly and a better state *** the UWB measurement and information exchanged, each agent constructs a graph to solve relative localization problem in sliding window. Finally, experimental results are presented to corroborate the effectiveness of our proposed relative localization algorithm.

关键词： Ultra-wideband relative localization Visual Odometry Multi-UAV system

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Tightly-coupled Lidar-inertial Odometry and Mapping in Real ...

Cross-sectional network analysis of plasma proteins/metabolites correlated with pathogenesis and therapeutic response in acute promyelocytic leukemia

第三十九届中国控制会议

作者： Wei Dai Bailing tian hongming Chen School of Electrical and Information Engineering Tianjin University

We proposed a tightly-coupled lidar-inertial odometry and mapping method for real-time 6DoF state estimation in complex environments e.g. unexplored, full of obstacles or GPS denied. The proposed lidar-inertial odometry is a tightlycoupled, nonlinear optimization-based method, fusing pre-integrated IMU measurements, feature points and ground plane extracted from lidar data. High-frequency state estimation is obtained by the proposed odometry. Further, a low-frequency lidar mapping method with scan-to-map refinement and global pose-graph optimization is proposed for more accurate pose estimation and globally consistent map. Real-world experiments are performed in indoor and outdoor scenarios to validate accuacy and generalizability of our method and compare against state-of-art real time lidar odometry and mapping methods.

关键词： sensor fusion lidar-inertial odometry simultaneous localization and mapping

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Frontiers of Medicine 2024年第2期18卷 327-343页

作者： Niu Qiao Yizhu Lyu Feng Liu Yuliang Zhang Xiaolin Ma Xiaojing Lin Junyu Wang Yinyin Xie Ruihong Zhang Jing Qiao hongming Zhu Li Chen Hai Fang Tong Yin Zhu Chen Qiang tian Saijuan Chen Shanghai Institute of Hematology State Key Laboratory of Medical GenomicsNational Research Center for Translational Medicine at ShanghaiRuijin Hospital Affiliated to Shanghai Jiao Tong University School of MedicineShanghai200025China Department of Hematology Second Hospital of Dalian Medical UniversityDalian116021China

The treatment of PML/RARA+acute promyelocytic leukemia(APL)with all-trans-retinoic acid and arsenic trioxide(ATRA/ATO)has been recognized as a model for translational medicine *** an altered microenvironment is a general cancer hallmark,how APL blasts shape their plasma composition is poorly ***,we reported a cross-sectional correlation network to interpret multilayered datasets on clinical parameters,proteomes,and metabolomes of paired plasma samples from patients with APL before or after ATRA/ATO induction *** study revealed the two prominent features of the APL plasma,suggesting a possible involvement of APL blasts in modulating plasma *** was characterized by altered secretory protein and metabolite profiles correlating with heightened proliferation and energy consumption in APL blasts,and the other featured APL plasma-enriched proteins or enzymes catalyzing plasma-altered metabolites that were potential trans-regulatory targets of PML/***,results indicated heightened interferon-gamma signaling characterizing a tumor-suppressing function of the immune system at the first hematological complete remission stage,which likely resulted from therapy-induced cell death or senescence and ensuing supraphysiological levels of intracellular ***,our work sheds new light on the pathophysiology and treatment of APL and provides an information-rich reference data cohort for the exploratory and translational study of leukemia microenvironment.

关键词： acute promyelocytic leukemia plasma proteomics plasma metabolomics cross-sectional correlation network pathogenesis treatment