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Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nonetheless, creating such a representation poses challenges due to sensor noise, instance segmentation and tracking errors, and the objects' dynamic motion. This paper introduces a novel particle-based instance-aware semantic occupancy map to tackle these challenges. Particles with an augmented instance state are used to estimate the Probability Hypothesis Density (PHD) of the objects and implicitly model the environment. Utilizing a State-augmented Sequential Monte Carlo PHD (S$^2$MC-PHD) filter, these particles are updated to jointly estimate occupancy status, semantic, and instance IDs, mitigating noise. Additionally, a memory module is adopted to enhance the map's responsiveness to previously observed objects. Experimental results on the Virtual KITTI 2 dataset demonstrate that the proposed approach surpasses state-of-the-art methods across multiple metrics under different noise conditions. Subsequent tests using real-world data further validate the effectiveness of the proposed approach.

With current and future leading systems adopting heterogeneous architectures, adapting existing models for heterogeneous supercomputers is of urgent need for improving model resolution and reducing modeling uncertainty. This paper presents our three-week effort on porting a complex earth system model, CESM 2.2, to a 40-million-core Sunway supercomputer. Taking a non-intrusive approach that tries to minimizes manual code modifications, our project tries to achieve both improvement of performance and consistency of the model code. By using a hierarchical grid system and an OpenMP-based offloading toolkit, our porting and parallelization effort covers over 80% of the code, and achieves a simulation speed of 340 SDPD (simulated days per day) for 5-km atmosphere, 265 SDPD for 3-km ocean, and 222 SDPD for a coupled model, thus making multi-year or even multi-decadal experiments at such high resolution possible., Comment: 18 pages, 13 figures

Leveraging multiple cameras on Unmanned Aerial Vehicles (UAVs) to form a variable-baseline stereo camera for collaborative perception is highly promising. The critical steps include high-rate cross-camera feature association and frame-rate relative pose estimation of multiple UAVs. To accelerate the feature association rate to match the frame rate, we propose a dual-channel structure to decouple the time-consuming feature detection and match from the high-rate image stream. The novel design of periodic guidance and fast prediction effectively utilizes each image frame to achieve a frame-rate feature association. Real-world experiments are executed using SuperPoint and SuperGlue on the NVIDIA NX 8G platform with a 30 Hz image stream. Using single-channel SuperPoint and SuperGlue can only achieve 13 Hz feature association. The proposed dual-channel method can improve the rate of feature association from 13 Hz to 30 Hz, supporting the frame-rate requirement. To accommodate the proposed feature association, we develop a Multi-State Constrained Kalman Filter (MSCKF)-based relative pose estimator in the back-end by fusing the local odometry from two UAVs together with the measurements of common features. Experiments show that the dual-channel feature association improves the rate of visual observation and enhances the real-time performance of back-end estimator compared to the existing methods. Video - https://youtu.be/UBAR1iP0GPk Supplementary video - https://youtu.be/nPq8EpVzJZM

Over the past few decades, significant progress has been made in quantum information technology, from theoretical studies to experimental demonstrations. Revolutionary quantum applications are now in the limelight, showcasing the advantages of quantum information technology and becoming a research hotspot in academia and industry. To enable quantum applications to have a more profound impact and wider application, the interconnection of multiple quantum nodes through quantum channels becomes essential. Building an entanglement-assisted quantum network, capable of realizing quantum information transmission between these quantum nodes, is the primary goal. However, entanglement-assisted quantum networks are governed by the unique laws of quantum mechanics, such as the superposition principle, the no-cloning theorem, and quantum entanglement, setting them apart from classical networks. Consequently, fundamental efforts are required to establish entanglement-assisted quantum networks. While some insightful surveys have paved the way for entanglement-assisted quantum networks, most of these studies focus on enabling technologies and quantum applications, neglecting critical network issues. In response, this paper presents a comprehensive survey of entanglement-assisted quantum networks. Alongside reviewing fundamental mechanics and enabling technologies, the paper provides a detailed overview of the network structure, working principles, and development stages, highlighting the differences from classical networks. Additionally, the challenges of building wide-area entanglement-assisted quantum networks are addressed. Furthermore, the paper emphasizes open research directions, including architecture design, entanglement-based network issues, and standardization, to facilitate the implementation of future entanglement-assisted quantum networks., Comment: 58 pages,34 figures, published in IEEE Communications Surveys & Tutorials 2023 (URL: https://ieeexplore.ieee.org/abstract/document/10177948)

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and terminal state accuracy in SE(3). However, in the perching process, uncertainties in target surface prediction, tracking control and external disturbances may cause trajectory planning failure or lead to unacceptable terminal errors. To address these challenges, we first propose a trajectory planner that considers adaptation to uncertainties in target prediction and tracking control. To facilitate this work, the reachable set of quadrotors' states is first analyzed. The states whose reachable sets possess the largest coverage probability for uncertainty targets, are defined as optimal waypoints. Subsequently, an approach to seek local optimal waypoints for static and moving uncertainty targets is proposed. A real-time trajectory planner based on optimized waypoints is developed accordingly. Secondly, thrust regulation is also implemented in the terminal attitude tracking stage to handle external disturbances. When a quadrotor's attitude is commanded to align with target surfaces, the thrust is optimized to minimize terminal errors. This makes the terminal position and velocity be controlled in closed-loop manner. Therefore, the resistance to disturbances and terminal accuracy is improved. Extensive simulation experiments demonstrate that our methods can improve the accuracy of terminal states under uncertainties. The success rate is approximately increased by $50\%$ compared to the two-end planner without thrust regulation. Perching on the rear window of a car is also achieved using our proposed heterogeneous cooperation system outdoors. This validates the feasibility and practicality of our methods.

Analogous coherent states are deduced from classical optical fields on curved surface in this paper. The Gaussian laser beam, as a fundamental mode, cannot be adequately simulated by coherent states due to their inherent diffraction in flat space. But things will be different when it propagates on a surface with uniform curvature called the constant Gaussian curvature surface (CGCS). By generalizing the method of Feynman path integral, an equivalent coherent states solution is demonstrated here to describe the beam propagation. The temporal evolution of the Schrodinger equation is analogously translated into a spatial transmission in this derivation, we obtain the expression of quantized momentum transmitted on curved surface, which is proportional to the square root of the Gaussian curvature $K$. In addition, we build a beam propagation picture identical to the squeezed state. We hope this research can give a new view on the quantum field in curved space., Comment: 11 pages,3 figures

Perching on {the surface} of moving objects, like vehicles, could extend the flight {time} and range of quadrotors. Suction cups are usually adopted for {surface attachment} due to their durability and large adhesive force. To seal on {a surfaces}, suction cups {must} be aligned with {the surface} and {possess proper relative tangential velocity}. {However, quadrotors' attitude and relative velocity errors would become significant when the object surface is moving and inclined. To address this problem, we proposed a real-time trajectory planning algorithm. The time-optimal aggressive trajectory is efficiently generated through multimodal search in a dynamic time-domain. The velocity errors relative to the moving surface are alleviated.} To further adapt to the residual errors, we design a compliant gripper using self-sealing cups. Multiple cups in different directions are integrated into a wheel-like mechanism to increase the tolerance to attitude errors. The wheel mechanism also eliminates the requirement of matching the attitude and tangential velocity. {Extensive tests are conducted to perch on static and moving surfaces at various inclinations.} Results demonstrate that our proposed system enables a quadrotor to reliably perch on moving inclined surfaces (up to $1.07m/s$ and $90^\circ$) with a success rate of $70\%$ or higher. {The efficacy of the trajectory planner is also validated. Our gripper has larger adaptability to attitude errors and tangential velocities than conventional suction cup grippers.} The success rate increases by 45\% in dynamic perches., Comment: This paper has been submitted to IEEE Transactions on Automation Science and Engineering at 22-Januray-2022

The Rindler spacetime describing a series of accelerating observers is Ricci flat, but it still has novel optical effects. In the case of WKB approximation, we derive the light geodesics in the Rindler frame based on the covariant wave equation and geodesic equations. Then, we use ABCD matrix optics method to explore the propagation characteristics of Rindler frame, thus link three different optical transformation scenes (geometry, gravity and vacuum refractive index) together. Moreover, the propagation characteristics of hollow beam in Rindler spacetime are described analytically. Those characteristics are quite different from the ones in the flat spacetime. Based on these calculations, we simply demonstrate the position uncertain relationship between the transverse beam size and the momentum, which surprisingly coincides with the derivation of quantization. We hope that we can provide one simple method to analyze the beam propagation in the accelerated frame., Comment: 7 pages,4 figures

In this paper, ABCD matrix is introduced to study the paraxial transmission of light on a constant gaussian curvature surface (CGCS), which is the first time to our knowledge. It is also proved that the curved surface can be used as the implementation of fractional Fourier transform, we further generalize that we can obtain the transfer matrix of an arbitrary surface with gently varying curvature by matrix optics. As a beam propagation example, based on the Collins integral, an analytical propagation formula for the hollow Gaussian beams (HGBs) on the CGCS is derived. The propagation characteristics of HGBs on one CGCS are illustrated graphically in detail, including the change of dark spots size and splitting rays. Besides its propagation periodicity and diffraction properties, a criterion for convergence and divergence of the spot size is proposed. The area of the dark region of the HGBs can easily be controlled by proper choice of the beam parameters and the shape of CGCS. In addition, we also study the special propagation properties of the hollow beam with a fractional order. Compared with HGBs in flat space, these novel characteristics of HGBs propagation on curved surface may further expand the application range of hollow beam., Comment: 11 pages, 5 figures

A generalized coordinate-independent expression for the evolution of light beam on curved space is derived.