Generative prediction of flow field based on the diffusion model

We propose a geometry-to-flow diffusion model that utilizes the input of obstacle shape to predict a flow field past the obstacle. The model is based on a learnable Markov transition kernel to recover the data distribution from the Gaussian distribution. The Markov process is conditioned on the obstacle geometry, estimating the noise to be removed at each step, implemented via a U-Net. A cross-attention mechanism incorporates the geometry as a prompt. We train the geometry-to-flow diffusion model using a dataset of flows past simple obstacles, including the circle, ellipse, rectangle, and triangle. For comparison, the CNN model is trained using the same dataset. Tests are carried out on flows past obstacles with simple and complex geometries, representing interpolation and extrapolation on the geometry condition, respectively. In the test set, challenging scenarios include a cross and characters `PKU'. Generated flow fields show that the geometry-to-flow diffusion model is superior to the CNN model in predicting instantaneous flow fields and handling complex geometries. Quantitative analysis of the model accuracy and divergence in the fields demonstrate the high robustness of the diffusion model, indicating that the diffusion model learns physical laws implicitly.

Discrete States-Based Trajectory Planning for Nonholonomic Robots

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete States-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages.

An Integrated Constrained Gradient Descent (iCGD) Protocol to Correct Scan-Positional Errors for Electron Ptychography with High Accuracy and Precision

Correcting scan-positional errors is critical in achieving electron ptychography with both high resolution and high precision. This is a demanding and challenging task due to the sheer number of parameters that need to be optimized. For atomic-resolution ptychographic reconstructions, we found classical refining methods for scan positions not satisfactory due to the inherent entanglement between the object and scan positions, which can produce systematic errors in the results. Here, we propose a new protocol consisting of a series of constrained gradient descent (CGD) methods to achieve better recovery of scan positions. The central idea of these CGD methods is to utilize a priori knowledge about the nature of STEM experiments and add necessary constraints to isolate different types of scan positional errors during the iterative reconstruction process. Each constraint will be introduced with the help of simulated 4D-STEM datasets with known positional errors. Then the integrated constrained gradient decent (iCGD) protocol will be demonstrated using an experimental 4D-STEM dataset of the 1H-MoS2 monolayer. We will show that the iCGD protocol can effectively address the errors of scan positions across the spectrum and help to achieve electron ptychography with high accuracy and precision.