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Transverse-momentum-dependent wave functions of the pion from lattice QCD

Physical Review D 2024年第9期109卷 L091503-L091503页

作者： Min-Huan Chu Jin-Chen He Jun Hua Jian Liang Xiangdong Ji Andreas Schäfer Hai-Tao Shu Yushan Su Ji-Hao Wang Wei Wang Yi-Bo Yang Jun Zeng Jian-Hui Zhang Qi-An Zhang INPAC Shanghai Key Laboratory for Particle Physics and Cosmology Key Laboratory for Particle Astrophysics and Cosmology (MOE) School of Physics and Astronomy Shanghai Jiao Tong University Shanghai 200240 China Yang Yuanqing Scientific Computering Center Tsung-Dao Lee Institute Shanghai Jiao Tong University Shanghai 200240 China Department of Physics University of Maryland College Park Maryland 20742 USA Key Laboratory of Atomic and Subatomic Structure and Quantum Control (MOE) Guangdong Basic Research Center of Excellence for Structure and Fundamental Interactions of Matter Institute of Quantum Matter South China Normal University Guangzhou 510006 China Guangdong-Hong Kong Joint Laboratory of Quantum Matter Guangdong Provincial Key Laboratory of Nuclear Science Southern Nuclear Science Computing Center South China Normal University Guangzhou 510006 China Institut für Theoretische Physik Universität Regensburg D-93040 Regensburg Germany CAS Key Laboratory of Theoretical Physics Institute of Theoretical Physics Chinese Academy of Sciences Beijing 100190 China School of Fundamental Physics and Mathematical Sciences Hangzhou Institute for Advanced Study UCAS Hangzhou 310024 China Southern Center for Nuclear-Science Theory (SCNT) Institute of Modern Physics Chinese Academy of Sciences Huizhou 516000 Guangdong Province China International Centre for Theoretical Physics Asia-Pacific Beijing/Hangzhou China School of Physical Sciences University of Chinese Academy of Sciences Beijing 100049 China School of Science and Engineering The Chinese University of Hong Kong Shenzhen 518172 China Center of Advanced Quantum Studies Department of Physics Beijing Normal University Beijing 100875 China School of Physics Beihang University Beijing 102206 China

We present a lattice QCD calculation of the transverse-momentum-dependent wave function (TMDWF) of the pion using large-momentum effective theory. Numerical simulations are based on one ensemble with 2+1+1 flavors of highly improved staggered quarks with lattice spacing a=0.121 fm from the MILC collaboration, and one with 2+1 flavor clover fermions and tree-level Symanzik gauge action generated by the CLS collaboration with a=0.098 fm. As a key ingredient, the soft function is first obtained by incorporating the one-loop perturbative contributions and a proper normalization. Based on this and the equal-time quasi-TMDWF simulated on the lattice, we extract the TMDWF. The results for both lattice ensembles are compatible and a comparison with a phenomenological parametrization is made. Our studies provide a first attempt of ab initio calculation of TMDWFs which will eventually lead to crucial theory inputs for making predictions for exclusive processes under QCD factorization.

关键词： Lattice QCD Transverse momentum dependent distribution Pions

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Stochastic MPC for Energy Management in Smart Grids with Conditional Value at Risk as Penalty Function

Stochastic MPC for Energy Management in Smart Grids with Con...

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IEEE PES Innovative Smart Grid Technologies Conference Europe (ISGT Europe)

作者： Janani Venkatasubramanian Vahab Rostampour Tamás Keviczky Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Engineering and Technology Institute University of Groningen Groningen The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (数字)9781728171005

ISBN: (纸本)9781728171012

This paper considers imbalance problems arising in Energy Management in Smart Grids (SG) as discrete-time stochastic linear systems subject to chance constraints, and proposes a Model Predictive control (MPC) approach to solve them. It is well-known that handling the closed-loop constraint feasibility of such systems is in general difficult due to the presence of a potentially unbounded uncertainty source. To overcome such a difficulty, we propose two new ideas. We first reformulate the chance constraint using the so-called Conditional Value at Risk (CVaR), which is known to be the tightest convex approximation for chance constraints. We then relax the CVaR constraint using a penalty function depending on a coefficient parameter. An optimal solution is therefore obtained by solving a single unconstrained problem which, intuitively, takes into consideration a risk of the system trajectories in an undesirable state. A case study using an academic example is presented to estimate the a-posteriori probability of the coefficient parameter in order to show when such a penalty function is exact by means of probabilistic constraint fulfillment.

关键词： Uncertainty Stochastic processes Probabilistic logic Smart grids Trajectory Energy management Predictive control

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SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization

SLAM-Based Joint Calibration of Differential RSS Sensor Arra...

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Annual Conference of Industrial Electronics Society

作者： Linya Fu Xu Qiao Shoudong Huang Guoqiang Mao Zhiyun Lin Youfu Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni. of Sci. and Tech. Shenzhen China Robotics Institute Uni. of Technology Sydney Sydney Australia State Key Laboratory of Integrated Services Networks Xidian University China Department of Mechanical Engineering City University of Hong Kong China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern Uni. of Sci. and Tech. Shenzhen China

Sensor arrays generating differential received signal strength (DRSS) measurements have found many applications in robotics. However, accurate calibration of these sensor arrays remains a challenge. Most existing methods are impractical in that they assume to know signal source positions or certain parameters (i.e., path loss exponent), and try to estimate the others. In this paper, we adopt graph simultaneous localization and mapping (SLAM) as a general framework for jointly estimating the source positions and parameters of the DRSS sensor array. Our contributions are twofold. On the one hand, by using a Fisher information matrix approach, we conduct a systematic observability analysis of the corresponding SLAM setup for the calibration problem. On the other hand, we propose an effective procedure to select the initial value which is fed to Levenberg-Marquardt iterations for further improving optimization accuracy and convergence. Extensive simulation and hardware experiments show that the proposed method renders high-quality calibration results. All the codes and data are publicly available at https://***/SUSTech2022/DRSS-sensor-array-calibration.

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Study on a Two-layer Path Planning Method of Spherical Multi-robot

Study on a Two-layer Path Planning Method of Spherical Multi...

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IEEE International Conference on Mechatronics and Automation

作者： Chenqi Li Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system.

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Study on 6D Pose Estimation System of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network

Study on 6D Pose Estimation System of Occlusion Targets for ...

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IEEE International Conference on Mechatronics and Automation

作者： Chaofeng Du Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target’s pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method.

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC

Study on Control Strategy of the Vascular Interventional Sur...

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IEEE International Conference on Mechatronics and Automation

作者： Wenqiang Zhang Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots.

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Design of control System for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal

Design of Control System for Lower Limb Rehabilitation Robot...

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IEEE International Conference on Mechatronics and Automation

作者： Shiqin Yu Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation.

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Study on Autonomous Surgical control System of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking

Study on Autonomous Surgical Control System of The Vascular ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhimin Feng Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements.

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Portable Intelligent Sensor Based on Chemically Induced Silver Nanoparticles Colorimetric Response for Visual Monitoring Nitride/Sulfide Gases

SSRN

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SSRN 2025年

作者： Yang, Lihua Qin, Yingxi Zhao, Xiayan Liao, Dongliang Li, Fuli Jiang, Li Wen, Bo Lei, Yubin Pang, Aihua Liao, Lei Qin, Aimiao Key Laboratory of New Processing Technology for Nonferrous Metal & Materials Ministry of Education Guangxi Key Laboratory of Optical and Electronic Materials and Devices College of Material Science and Engineering Guilin University of Technology Guilin541004 China Guilin Electrical Equipment Scientific Research Institute Co. Ltd. Guilin541004 China College of Natural Resources and Environment Northwest A&F University Yangling712100 China College of Physics and Electronic Information Engineering Key Laboratory of Low-Dimensional Structural Physics and Application Education Department of Guangxi Zhuang Autonomous Region Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China

Nitride/sulfide gases possess hypertoxicity and carcinogenicity. Trace H₂S/SO₂/NO₂ gases were incapable of being recognized and detected by the naked eyes in advance and caused a serious threat to human health. Based on the mechanism of chemically induced silver nanoparticles to produce colorimetric response, a paper-based colorimetric sensor array with an integrated smartphone was proposed to achieve visual detection and distinction of three trace H₂S/SO₂/NO₂ gases. The silver nanoparticles were capped by long-chain hydrophobic molecules and high molecular hydrophilic polymer and immobilized on a porous hydrophobic paper substrate, presenting excellent stability and ability to resist humidity. The fabricated sensor array exhibits excellent classifying capability, selectivity, and sensitivity for these three gases, with limits of detection (LODs) of 12.8 ppb for H2S, 131.8 ppb for SO2, and 23.1 ppb for NO2, respectively, only exposure for 5 min. Importantly, these LODs are all comfortably below their respective permissible exposure limits. TEM and density functional theory (DFT) reveal that the colorimetric responses were induced by the changes of nanoparticle morphology or size, which attributed to the electrostatic or hydrogen bonding interaction among the analytical gases, nanoparticles, and cap agents. Additionally, the fabricated sensor array integrated smartphone was capable of visually monitoring freshness of chicken during the sale. This portable intelligent colorimetric sensor based on solid-state AgNPs offers a novel approach for the continuous, ultrasensitive, rapid and visual detection of trace toxic gases and meat freshness. © 2025, The Authors. All rights reserved.

关键词： Silver nanoparticles

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