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Online trajectory optimization and optimal control methods are crucial for enabling sustainable unmanned aerial vehicle (UAV) services, such as agriculture, environmental monitoring, and transportation, where available actuation and energy are limited. However, optimal controllers are highly sensitive to model mismatch, which can occur due to loaded equipment, packages to be delivered, or pre-existing variability in fundamental structural and thrust-related parameters. To circumvent this problem, optimal controllers can be paired with parameter estimators to improve their trajectory planning performance and perform adaptive control. However, UAV platforms are limited in terms of onboard processing power, oftentimes making nonlinear parameter estimation too computationally expensive to consider. To address these issues, we propose a relaxed, affine-in-parameters multirotor model along with an efficient optimal parameter estimator. We convexify the nominal Moving Horizon Parameter Estimation (MHPE) problem into a linear-quadratic form (LQ-MHPE) via an affine-in-parameter relaxation on the nonlinear dynamics, resulting in fast quadratic programs (QPs) that facilitate adaptive Model Predictve Control (MPC) in real time. We compare this approach to the equivalent nonlinear estimator in Monte Carlo simulations, demonstrating a decrease in average solve time and trajectory optimality cost by 98.2% and 23.9-56.2%, respectively., Comment: 8 pages, 5 figures, submitted to IEEE Sustech 2025

Massive stars end their life as core-collapse supernovae, amongst which some extremes are Type Ic broad-lined supernovae associated with long-duration gamma-ray bursts (LGRBs) having powerful relativistic jets. Their less-extreme brethren make unsuccessful jets that are choked inside the stars, appearing as X-ray flashes or low-luminosity GRBs. On the other hand, there exists a population of extragalactic fast X-ray transients (EFXTs) with timescales ranging from seconds to thousands of seconds, whose origins remain obscure. Known sources that contribute to the observed EFXT population include the softer analogs of LGRBs, shock breakouts of supernovae, or unsuccessful jets. Here, we report the discovery of the bright X-ray transient EP240414a detected by the Einstein Probe (EP), which is associated with the Type Ic supernova SN 2024gsa at a redshift of 0.401. The X-ray emission evolution is characterised by a very soft energy spectrum peaking at < 1.3 keV, which makes it distinct from known LGRBs, X-ray flashes, or low-luminosity GRBs. Follow-up observations at optical and radio bands revealed the existence of a weak relativistic jet that interacts with an extended shell surrounding the progenitor star. Located on the outskirts of a massive galaxy, this event reveals a new population of explosions of Wolf-Rayet stars characterised by a less powerful engine that drives a successful but weak jet, possibly owing to a progenitor star with a smaller core angular momentum than in traditional LGRB progenitors., Comment: 43 pages, 9 figures, 4 tables, submitted. Comments are welcome

Long gamma-ray bursts (GRBs) are believed to originate from core collapse of massive stars. High-redshift GRBs can probe the star formation and reionization history of the early universe, but their detection remains rare. Here we report the detection of a GRB triggered in the 0.5--4 keV band by the Wide-field X-ray Telescope (WXT) on board the Einstein Probe (EP) mission, designated as EP240315a, whose bright peak was also detected by the Swift Burst Alert Telescope and Konus-Wind through off-line analyses. At a redshift of $z=4.859$, EP240315a showed a much longer and more complicated light curve in the soft X-ray band than in gamma-rays. Benefiting from a large field-of-view ($\sim$3600 deg$^2$) and a high sensitivity, EP-WXT captured the earlier engine activation and extended late engine activity through a continuous detection. With a peak X-ray flux at the faint end of previously known high-$z$ GRBs, the detection of EP240315a demonstrates the great potential for EP to study the early universe via GRBs., Comment: 41 pages, 8 figures, 7 tables

The Lobster Eye Imager for Astronomy (LEIA), a pathfinder of the Wide-field X-ray Telescope of the Einstein Probe (EP) mission, was successfully launched onboard the SATech-01 satellite of the Chinese Academy of Sciences on 27 July 2022. In this paper, we introduce the design and on-ground test results of the LEIA instrument. Using state-of-the-art Micro-Pore Optics (MPO), a wide field-of-view (FoV) of 346 square degrees (18.6 degrees * 18.6 degrees) of the X-ray imager is realized. An optical assembly composed of 36 MPO chips is used to focus incident X-ray photons, and four large-format complementary metal-oxide semiconductor (CMOS) sensors, each of 6 cm * 6 cm, are used as the focal plane detectors. The instrument has an angular resolution of 4 - 8 arcmin (in FWHM) for the central focal spot of the point spread function, and an effective area of 2 - 3 cm2 at 1 keV in essentially all the directions within the field of view. The detection passband is 0.5 - 4 keV in the soft X-rays and the sensitivity is 2 - 3 * 10-11 erg s-1 cm-2 (about 1 mini-Crab) at 1,000 second observation. The total weight of LEIA is 56 kg and the power is 85 W. The satellite, with a design lifetime of 2 years, operates in a Sun-synchronous orbit of 500 km with an orbital period of 95 minutes. LEIA is paving the way for future missions by verifying in flight the technologies of both novel focusing imaging optics and CMOS sensors for X-ray observation, and by optimizing the working setups of the instrumental parameters. In addition, LEIA is able to carry out scientific observations to find new transients and to monitor known sources in the soft X-ray band, albeit limited useful observing time available., Comment: Accepted by RAA

To optimize flapping foil performance, the application of deep reinforcement learning (DRL) on controlling foil non-parametric motion is conducted in the present study. Traditional control techniques and simplified motions cannot fully model nonlinear, unsteady and high-dimensional foil-vortex interactions. A DRL-training framework based on Proximal Policy Optimization and Transformer architecture is proposed. The policy is initialized from the sinusoidal expert display. We first demonstrate the effectiveness of the proposed DRL-training framework which can optimize foil motion while enhancing foil generated thrust. By adjusting reward setting and action threshold, the DRL-optimized foil trajectories can gain further enhancement compared to sinusoidal motion. Via flow analysis of wake morphology and instantaneous pressure distributions, it is found that the DRL-optimized foil can adaptively adjust the phases between motion and shedding vortices to improve hydrodynamic performance. Our results give a hint for solving complex fluid manipulation problems through DRL method., Comment: submitted to Journal of Fluid Mechanics rapids

As a novel X-ray focusing technology, lobster eye micro-pore optics (MPO) feature both a wide observing field of view and true imaging capability, promising sky monitoring with significantly improved sensitivity and spatial resolution in soft X-rays. Since first proposed by Angel (1979), the optics have been extensively studied, developed and trialed over the past decades. In this Letter, we report on the first-light results from a flight experiment of the Lobster Eye Imager for Astronomy ($LEIA$), a pathfinder of the wide-field X-ray telescope of the Einstein Probe mission. The piggyback imager, launched in July 2022, has a mostly un-vignetted field of view of $18.6^\circ \times 18.6^\circ $. Its spatial resolution is in the range of 4$-$7 arcmin in FWHM and the focal spot effective area is 2$-$3 cm$^2$, both showing only mild fluctuations across the field of view. We present images of the Galactic center region, Sco X-1 and the diffuse Cygnus Loop nebular taken in snapshot observations over 0.5$-$4 keV. These are truly wide-field X-ray images of celestial bodies observed, for the first time, by a focusing imaging telescope. Initial analyses of the in-flight data show excellent agreement between the observed images and the on-ground calibration and simulations. The instrument and its characterization are briefly described, as well as the flight experiment. The results provide a solid basis for the development of the present and proposed wide-field X-ray missions using lobster eye MPO., Comment: 11 pages, 4 figures. Accepted for publication in Astrophysical Journal Letter

It was generally assumed that weak van der Waals interactions exist between neighboring layers in the two-dimensional group-IV chalcogenides. Using PbSe as a prototypal example, however, we find additional strong coupling between the Pb-Pb layers, as evidenced by detailed analysis of the differential charge density. The coupling resembles covalent-like bond and exhibits strong harmonicity around the equilibrium distance, which can be fine tuned to obviously reduce the phonon thermal conductivity but slightly change the electronic transport of PbSe. As a consequence, a maximum ZT value of 2.5 can be realized at 900 K for the p-type system. Our work offers an effective and feasible design strategy to enhance the thermoelectric performance of similar layered structures.

To maximize the light yield of the liquid scintillator (LS) for the Jiangmen Underground Neutrino Observatory (JUNO), a 20 t LS sample was produced in a pilot plant at Daya Bay. The optical properties of the new LS in various compositions were studied by replacing the gadolinium-loaded LS in one antineutrino detector. The concentrations of the fluor, PPO, and the wavelength shifter, bis-MSB, were increased in 12 steps from 0.5 g/L and <0.01 mg/L to 4 g/L and 13 mg/L, respectively. The numbers of total detected photoelectrons suggest that, with the optically purified solvent, the bis-MSB concentration does not need to be more than 4 mg/L. To bridge the one order of magnitude in the detector size difference between Daya Bay and JUNO, the Daya Bay data were used to tune the parameters of a newly developed optical model. Then, the model and tuned parameters were used in the JUNO simulation. This enabled to determine the optimal composition for the JUNO LS: purified solvent LAB with 2.5 g/L PPO, and 1 to 4 mg/L bis-MSB., Comment: 13 pages, 8 figures

The design of uranium-based thermoelectric materials presents a novel and intriguing strategy for directly converting nuclear heat into electrical power. Using high-level first-principles approach combined with accurate solution of Boltzmann transport equation, we demonstrate that a giant n-type power factor of 13.8 mW/mK^2 and a peak ZT value of 2.2 can be realized in the heavy-fermion UN2 compound at 700 K. Such promising thermoelectric performance arises from the large degeneracy (Nv=14) of heavy conduction band coupled with weak electron-phonon interactions, which is in principle governed by the strong Coulomb correlation among the partially filled U-5f electrons in the face-centered cubic structure. Collectively, our theoretical work suggests that the energetic UN2 is an excellent alternative to efficient radioisotope power conversion, which also uncovers an underexplored area for thermoelectric research.

Modelling long-time convective flows in the interiors of stars is extremely challenging using conventional compressible hydrodynamics codes due to the acoustic timestep limitation. Many of these flows are in the low Mach number regime, which allows us to exploit the relationship between acoustic and advective time scales to develop a more computationally efficient approach. MAESTROeX is an open source low Mach number stellar hydrodynamics code that allows much larger timesteps to be taken, therefore enabling systems to be modelled for much longer periods of time. This is particularly important for the problem of convection in the cores of rotating massive stars prior to core collapse. To fully capture the dynamics, it is necessary to model these systems in three dimensions at high resolution over many rotational periods. We present an overview of MAESTROeX's current capabilities, describe ongoing work to incorporate the effects of rotation and discuss how we are optimising the code to run on GPUs., Comment: 9 pages, 1 figure, Proceedings for the "ASTRONUM 2019" conference, July 2019, Paris, France

The electronic and phonon transport properties of graphene-like boron phosphide (BP), boron arsenide (BAs), and boron antimonide (BSb) monolayers are investigated using first-principles calculations and Boltzmann theory. By considering both the phonon-phonon and electron-phonon scatterings, we demonstrate that the strong bond anharmonicity in the BAs and BSb monolayers can dramatically suppress the phonon relaxation time but hardly affects that of electrons. As a consequence, both systems exhibit comparable power factors with that of the BP monolayer but much lower lattice thermal conductivities. Accordingly, a maximum ZT values above 3.0 can be achieved in both BAs and BSb monolayers at optimized carrier concentrations. Interestingly, very similar p- and n-type thermoelectric performance is observed in the BSb monolayer along the armchair direction, which is of vital importance in the fabrication of thermoelectric modules with comparable efficiencies.

Two-dimensional layered materials have attracted tremendous attentions due to their extraordinary physical and chemical properties. Using first-principles calculations and Boltzmann transport theory, we give an accurate prediction of the thermoelectric properties of boron phosphide (BP) bilayer, where the carrier relaxation time is treated within the framework of electron-phonon coupling. It is found that the lattice thermal conductivity of BP bilayer is much lower than that of its monolayer structure, which can be attributed to the presence of van der Waals interactions. On the other hand, the graphene-like BP bilayer shows very high carrier mobility with a moderate band gap of 0.88 eV. As a consequence, a maximum p-type ZT value of ~1.8 can be realized along the x-direction at 1200 K, which is amazingly high for systems consisting of light elements only. Moreover, we obtain almost identical p- and n-type ZT of ~1.6 along the y-direction, which is very desirable for fabrication of thermoelectric modules with comparative efficiencies. Collectively, these findings demonstrate great advantages of the layered structures containing earth-abundant elements for environment-friendly thermoelectric applications.

Low-dimensional layered materials have attracted tremendous attentions due to their wide range of physical and chemical properties and potential applications in electronic devices. Using first-principles method taking into account the quasiparticle self-energy correction and Boltzmann transport theory, the electronic transport properties of ZrSe3 monolayer are investigated, where the carrier relaxation time is accurately calculated within the framework of electron-phonon coupling. It is demonstrated that the high power factor of the monolayer can be attributed to the grooved bands near the conduction band minimum. Combined with the low lattice thermal conductivity obtained by solving the phonon Boltzmann transport equation, a considerable n-type ZT value of ~2.4 can be achieved at 800 K in the ZrSe3 monolayer.

We present new three-dimensional (3D) interstellar dust reddening maps of the Galactic plane in three colours, E(G-Ks), E(Bp-Rp) and E(H-Ks). The maps have a spatial angular resolution of 6 arcmin and covers over 7000 deg$^2$ of the Galactic plane for Galactic longitude 0 deg $<$ $l$ $<$ 360 deg and latitude $|b|$ $<$ $10$ deg. The maps are constructed from robust parallax estimates from the Gaia Data Release 2 (Gaia DR2) combined with the high-quality optical photometry from the Gaia DR2 and the infrared photometry from the 2MASS and WISE surveys. We estimate the colour excesses, E(G-Ks), E(Bp-Rp) and E(H-Ks), of over 56 million stars with the machine learning algorithm Random Forest regression, using a training data set constructed from the large-scale spectroscopic surveys LAMOST, SEGUE and APOGEE. The results reveal the large-scale dust distribution in the Galactic disk, showing a number of features consistent with the earlier studies. The Galactic dust disk is clearly warped and show complex structures possibly spatially associated with the Sagittarius, Local and Perseus arms. We also provide the empirical extinction coefficients for the Gaia photometry that can be used to convert the colour excesses presented here to the line-of-sight extinction values in the Gaia photometric bands., Comment: 13 pages, 15 figures, accepted for publication in MNRAS, Table 1 is also available online via http://paperdata.china-vo.org/diskec/cestar/table1.zip

The electronic and phonon transport properties of quaternary tetradymite BiSbSeTe2 are investigated using first-principles approach and Boltzmann transport theory. Unlike the binary counterpart Bi2Te3, we obtain a pair of Rashba splitting bands induced by the absence of inversion center. Such unique characteristic could lead to a large Seebeck coefficient even at relatively higher carrier concentration. Besides, we find an ultralow lattice thermal conductivity of BiSbSeTe2, especially along the interlayer direction, which can be traced to the extremely small phonon relaxation time mainly induced by the mixed covalent bonds. As a consequence, a considerably large ZT value of ~2.0 can be obtained at 500 K, indicating that the unique lattice structure of BiSbSeTe2 caused by isoelectronic substitution could be an advantage to achieving high thermoelectric performance.

It is generally assumed in the thermoelectric community that the lattice thermal conductivity of a given material is independent of the electronic properties. This perspective is however questionable since the electron-phonon coupling could have certain effects on both the carrier and phonon transport, which in turn will affect the thermoelectric properties. Using SiGe compound as a prototypical example, we give an accurate prediction of the carrier relaxation time by considering scattering from all the phonon modes, as opposed to the simple deformation potential theory. It is found that the carrier relaxation time does not change much with the concentration, which is however not the case for the phonon transport where the lattice thermal conductivity can be significantly reduced by electron-phonon coupling at higher carrier concentration. As a consequence, the figure-of-merit of SiGe compound is obviously enhanced at optimized carrier concentration, and becomes more pronounced at elevated temperature.

The unique structure of Zintl phase makes it an ideal system to realize the concept of phonon-glass and electron-crystal in the thermoelectric community. In this work, by combining first-principles calculations and Boltzmann transport theory for both electrons and phonons, we demonstrate that the ZT value of Zintl compound KSnSb can reach ~2.6 at 800 K. Such extraordinary thermoelectric performance originates from the large Seebeck coefficient due to multi-valley band structures and particularly very small lattice thermal conductivity caused by mixed-bond characteristics.

Using first-principles calculations combined with Boltzmann transport theory, we investigate the effects of topological edge states on the thermoelectric properties of Bi nanoribbons. It is found that there is a competition between the edge and bulk contributions to the Seebeck coefficients. However, the electronic transport of the system is dominated by the edge states because of its much larger electrical conductivity. As a consequence, a room temperature value exceeding 3.0 could be achieved for both p- and n-type systems when the relaxation time ratio between the edge and the bulk states is tuned to be 1000. Our theoretical study suggests that the utilization of topological edge states might be a promising approach to cross the threshold of the industrial application of thermoelectricity.

Using first-principles pseudopotential method and Boltzmann transport theory, we give a comprehensive understanding of the electronic and phonon transport properties of thermoelectric material BiCuSeO. By choosing proper hybrid functional for the exchange-correlation energy, we find that the system is semiconducting with a direct band gap of ~0.8 eV, which is quite different from those obtained previously using standard functionals. Detailed analysis of a three-dimensional energy band structure indicates that there is a valley degeneracy of eight around the valence band maximum, which leads to a sharp density of states and is responsible for a large p-type Seebeck coefficient. Moreover, we find that the density of states effective masses are much larger and results in very low hole mobility of BiCuSeO. On the other hand, we find larger atomic displacement parameters for the Cu atoms, which indicates that the stronger anharmonicity of BiCuSeO may originate from the rattling behavior of Cu instead of previously believed Bi atoms.

The two-dimensional graphene-like carbon allotrope, graphyne, has been recently fabricated and exhibits many interesting electronic properties. In this work, we investigate the thermoelectric properties of {\gamma}-graphyne by performing first-principles calculations combined with Boltzmann transport theory for both electron and phonon. The carrier relaxation time is accurately evaluated from the ultra-dense electron-phonon coupling matrix elements calculated by adopting the density functional perturbation theory and Wannier interpolation, rather than the generally used deformation potential theory which only considers the electron-acoustic phonon scattering. It is found that the thermoelectric performance of {\gamma}-graphyne exhibits a strong dependence on the temperature and carrier type. At an intermediate temperature of 600 K, a maximum ZT value of 1.5 and 1.0 can be achieved for the p- and n-type systems, respectively.

Topological insulators are new class of quantum materials, which have insulating energy gaps in bulk, but exhibit gapless edge states or surface states that are protected by time-reversal symmetry at boundary. It was theoretically predicted and experimentally confirmed that the binary tetradymites Bi2Te3, Bi2Se3, and Sb2Te3 are three-dimensional topological insulators. In this work, we demonstrate by first-principles approach that the ignored Sb2Se3, although with relatively smaller spin-orbital coupling strength, can also exhibit topologically protected surface states with a bulk gap of 0.19 eV, as long as the van der Waals interaction is explicitly included in the calculations. Detailed analysis of the band structures of Sb2Se3 thin films indicates that the non-trivial surface state appears at a critical thickness of six quintuple layers.

The lattice thermal conductivity of thermoelectric material CuInTe2 is predicted using classical molecular dynamics simulations, where a simple but effective Morse-type interatomic potential is constructed by fitting first-principles total energy calculations. In a broad temperature range from 300 to 900 K, our simulated results agree well with those measured experimentally, as well as those obtained from phonon Boltzmann transport equation. By introducing the Cd impurity and Cu vacancy, the thermal conductivity of CuInTe2 can be effectively reduced to further enhance the thermoelectric performance of this chalcopyrite compound.

Hybrid InSb nanowire-superconductor devices are promising for investigating Majorana modes and topological quantum computation in solid-state devices. An experimental realisation of ballistic, phase-coherent superconductor-nanowire hybrid devices is a necessary step towards engineering topological superconducting electronics. Here, we report on a low-temperature transport study of Josephson junction devices fabricated from InSb nanowires grown by molecular-beam epitaxy and provide a clear evidence for phase-coherent, ballistic charge transport through the nanowires in the junctions. We demonstrate that our devices show gate-tunable proximity-induced supercurrent and clear signatures of multiple Andreev reflections in the differential conductance, indicating phase-coherent transport within the junctions. We also observe periodic modulations of the critical current that can be associated with the Fabry-P\'{e}rot interference in the nanowires in the ballistic transport regime. Our work shows that the InSb nanowires grown by molecular-beam epitaxy are of excellent material quality and hybrid superconducting devices made from these nanowires are highly desirable for investigation of the novel physics in topological states of matter and for applications in topological quantum electronics., Comment: 4 figures, 19 pages

Using first-principles method and Boltzmann theory, we provide an accurate prediction of the electronic band structure and thermoelectric transport properties of alpha-MgAgSb. Our calculations demonstrate that only when an appropriate exchange-correlation functional is chosen can we correctly reproduce the semiconducting nature of this compound. By fine tuning the carrier concentration, the thermoelectric performance of alpha-MgAgSb can be significantly optimized, which exhibits a strong temperature dependence and gives a maximum ZT value of 1.7 at 550 K.

The electronic and transport properties of the half-Heusler compound LaPtSb are investigated by performing first-principles calculations combined with semi-classical Boltzmann theory and deformation potential theory. Compared with many typical half-Heusler compounds, the LaPtSb exhibits obviously larger power factor at room temperature, especially for the n-type system. Together with the very low lattice thermal conductivity, the thermoelectric figure of merit (ZT) of LaPtSb can be optimized to a record high value of 2.2 by fine tuning the carrier concentration.