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Since the shape of industrial endoscopes is passively altered according to the contact around it, manual inspection approaches of aeroengines through the inspection ports have unreachable areas, and it's difficult to traverse multistage blades and inspect them simultaneously, which requires engine disassembly or the cooperation of multiple operators, resulting in efficiency decline and increased costs. To this end, this paper proposes a novel continuum manipulator with push-pull multisection structure which provides a potential solution for the disadvantages mentioned above due to its higher flexibility, passability, and controllability in confined spaces. The ultra-slender design combined with a tendon-driven mechanism makes the manipulator acquire enough workspace and more flexible postures while maintaining a light weight. Considering the coupling between the tendons in multisection, a innovative kinematics decoupling control method is implemented, which can realize real-time control in the case of limited computational resources. A prototype is built to validate the capabilities of mechatronic design and the performance of the control algorithm. The experimental results demonstrate the advantages of our continuum manipulator in the in-situ inspection of aeroengines' multistage blades, which has the potential to be a replacement solution for industrial endoscopes., Comment: This work has been accepted by IROS 2024

We exploit holographic duality to study the system of a one-dimensional interface contacting two semi-infinite two-dimensional CFTs. Central to our investigation is the introduction of a dynamical scalar field located on the bulk interface brane which breaks the scaling symmetry of the dual interface field theory, along with its consequential backreaction on the system. We define an interface entropy from holographic entanglement entropy. At zero temperature we construct several illustrative examples and observe that the $g$-theorem is always satisfied. These examples also reveal distinct features of the interface entropy that are intricately linked to the scalar potential profiles. At finite temperature we find that the dynamical scalar field enables the bulk theory to have new configurations which would be infeasible solely with a tension term on the interface brane., Comment: 64 pages, many figures; v2: minor improvements, references added; v3: published version

Laughter is a unique expression, essential to affirmative social interactions of humans. Although current 3D talking head generation methods produce convincing verbal articulations, they often fail to capture the vitality and subtleties of laughter and smiles despite their importance in social context. In this paper, we introduce a novel task to generate 3D talking heads capable of both articulate speech and authentic laughter. Our newly curated dataset comprises 2D laughing videos paired with pseudo-annotated and human-validated 3D FLAME parameters and vertices. Given our proposed dataset, we present a strong baseline with a two-stage training scheme: the model first learns to talk and then acquires the ability to express laughter. Extensive experiments demonstrate that our method performs favorably compared to existing approaches in both talking head generation and expressing laughter signals. We further explore potential applications on top of our proposed method for rigging realistic avatars., Comment: Accepted to WACV2024

We construct hairy rotating black hole solutions in three dimensional Einstein gravity coupled to a complex scalar field. When we turn on a real and uniform source on the dual CFT, the black hole is stationary with two Killing vectors and we show that there is no inner horizon for the black hole and the system evolves smoothly into a Kasner universe. When we turn on a complex and periodic driving source on the dual CFT with a phase velocity equal to the angular velocity of the black hole, we have a time-dependent black hole with only one Killing vector. We show that inside the black hole, after a rapid collapse of the Einstein-Rosen bridge, oscillations of the scalar field follow. Then the system evolves into the Kasner epoch with possible Kasner inversion, which occurs in most of the parameter regimes. In both cases, one of the metric fields obeys a simple relation between its value at the horizon and in the Kasner epoch., Comment: 35 pages, 14 figures

We study the black hole interiors in holographic Weyl semimetals and holographic nodal line semimetals. We find that the black hole singularities are of Kasner form. In the topologically nontrivial phase at low temperature, both the Kasner exponents of the metric fields and the proper time from the horizon to the singularity are almost constant, likely reflecting the topological nature of the topological semimetals. We also find some specific behaviors inside the horizon in each holographic semimetal model., Comment: 26 pages, 8 figures, published version

We study the conductivities and entanglement structures of two different holographic gapped systems at zero density in the presence of boundaries within AdS/BCFT. The first gapped system is described by the Einstein-scalar gravity and the second one is the dual of AdS soliton geometry. We show that in both these two systems the bulk and boundary conductivities along the spatial direction of the boundary of BCFT are trivial. For the first system, when we increase the size of the subsystem the renormalized entanglement entropy is always non-negative and monotonically decreasing with discontinuous, or continuous, or smooth behavior, depending on the effective tension of the brane. While for the AdS soliton with a boundary, the renormalized entanglement entropy only exhibits a discontinuous drop when we increase the size of the subsystem., Comment: 36 pages, 17 figures, published version

We study the interior structure of five dimensional neutral helical black holes in Einstein gravity and charged helical black holes in Einstein-Maxwell gravity. Inside the neutral helical black holes, the systems evolve to a stable spacelike Kasner singularity. The metric field related to the helical deformation strength exhibits oscillation behavior close to the horizon at low temperature and small helical deformation strength. Inside the charged helical black holes, we show that the inner Cauchy horizon can not exist. The systems also evolve from the horizon to a stable Kasner singularity. We find that the oscillations can exist and there is a special feature that the oscillations occur near the horizon and before the collapse of the Einstein-Rosen bridge for the charged helical black holes., Comment: v2: 23 pages, 9 figures, published version

We study the behavior of black hole singularities across the Hawking-Page phase transitions, uncovering possible connections between the physics inside and outside the horizon. We focus on the case of spacelike singularities in Einstein-scalar theory which are of the Kasner form. We find that the Kasner exponents are continuous and non-differentiable during the second order phase transitions, while discontinuous in the first order phase transitions. We give some arguments on the universality of this behavior. We also discuss possible observables in the dual field theory which encode the Kasner exponents., Comment: 23 pages, 8 figures. v2: version to appear in JHEP

We propose a method to create selective interactions with Dicke-Stark model by means of time-dependent perturbation theory. By choosing the proper rotating framework, we find that the time oscillating terms depend on the number of atomic excitations and the number of photonic excitations. Consequently, the Rabi oscillation between selective states can be realized by properly choosing the frequency of the two-level system. The second order selective interactions can also be studied with this method. Then various states such as Dicke states, superposition of Dicke states and GHZ states can be created by means of such selective interactions. The numerical results show that high fidelity Dicke states and Greenberger-Horne-Zeilinger states can be created by choosing the proper frequency of two-level system and controlling the evolution time., Comment: To be published in Optics Express