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The recent transport measurement of La$_3$Ni$_2$O$_7$ uncover a "right-triangle" shape of the superconducting dome in the pressure-temperature (P-T) phase diagram. Motivated by this, we perform theoretical first-principles studies of La$_3$Ni$_2$O$_7$ with the pressure ranging from 0 to 100 GPa. Notably, we reveal a pressure dependence of the Ni-$d_{z^2}$ electron density at the Fermi energy ($n_z^{EF}$) that highly coincides with such shape. On this basis, we further explore the electronic structure under uniaxial stress. By tracking the stress response of $n_z^{EF}$, we propose that superconductivity can be achieved by applying only about 2 GPa of compression along the c axis. The idea is further exemplified from the perspectives of lattice distortion, band structure, Fermi surface and superconducting phase coherence. We also discuss the possible charge modulation under the stress and provide an insight to the relation between n_z^EF and the superconducting Tc in La$_3$Ni$_2$O$_7$ system. Our study provides a helpful guide to the future experiment.

The compressed hydrogen-rich compounds have received extensive attention as promising candidates for room temperature superconductivity, however, the high pressure required to stabilize such materials hinders their wide practical application. In order to search for potential superconducting hydrides that are stable at low pressures, we have investigated the crystal structures and properties of quaternary hydrides, XM3Be4H32 (X, M = Ca, Sr, Ba, Y, La, Ac, Th) based on the first-principles calculations. We identified nine dynamically stable compounds at moderate pressure of 20 GPa. Strikingly, their superconducting transition temperatures are much higher than that of liquid nitrogen, especially CaTh3Be4H32 (124 K at 5 GPa), ThLa3Be4H32(134 K at 10 GPa), LaAc3Be4H32 (135 K at 20 GPa) and AcLa3Be4H32 (153 K at 20 GPa) exhibit outstanding superconductivity at mild pressures. Metal atoms acting as pre-compressors donate abundant electrons to hydrogen, weakening the H-H covalent bond and thus facilitating the metallization of the hydrogen sublattice. At the same time, the appropriate combination of metal elements with different ionic radius and electronegativity can effectively tune the electronic structure near the Fermi level and improve the superconductivity. These findings fully reveal the great promise of hosting high-temperature superconductivity of quaternary hydrides at moderate pressures and will further promote related exploration., Comment: 14 pages, 6 figures

The robustness of SLAM (Simultaneous Localization and Mapping) algorithms under challenging environmental conditions is critical for the success of autonomous driving. However, the real-world impact of such conditions remains largely unexplored due to the difficulty of altering environmental parameters in a controlled manner. To address this, we introduce CARLA-Loc, a synthetic dataset designed for challenging and dynamic environments, created using the CARLA simulator. Our dataset integrates a variety of sensors, including cameras, event cameras, LiDAR, radar, and IMU, etc. with tuned parameters and modifications to ensure the realism of the generated data. CARLA-Loc comprises 7 maps and 42 sequences, each varying in dynamics and weather conditions. Additionally, a pipeline script is provided that allows users to generate custom sequences conveniently. We evaluated 5 visual-based and 4 LiDAR-based SLAM algorithms across different sequences, analyzing how various challenging environmental factors influence localization accuracy. Our findings demonstrate the utility of the CARLA-Loc dataset in validating the efficacy of SLAM algorithms under diverse conditions.

This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SWheg takes advantage of both wheeled and legged locomotion by seamlessly integrating them on a single platform. In contrast to other designs that use multiple actuators, SWheg uses only one actuator to drive the transformation of all the wheel-leg modules in sync. This means an N-legged SWheg robot requires only N+1 actuators, which can significantly reduce the cost and malfunction rate of the platform. The tendon-driven wheel-leg transformation mechanism based on a four-bar linkage can perform fast morphology transitions between wheels and legs. We validated the design principle with two SWheg robots with four and six wheel-leg modules separately, namely Quadrupedal SWheg and Hexapod SWheg. The design process, mechatronics infrastructure, and the gait behavioral development of both platforms were discussed. The performance of the robot was evaluated in various scenarios, including driving and turning in wheeled mode, step crossing, irregular terrain passing, and stair climbing in legged mode. The comparison between these two platforms was also discussed.