Path-following control of wheeled mobile robots has been a crucial research topic in robotic control theory and applications. In path-following control with obstacles, the path-following control and collision avoidance goals might be conflicting, making it challenging to obtain near-optimal solutions for path-following control and obstacle avoidance with low tracking error and input energy consumption. To address this problem, we propose a potential field-based dual heuristic programming (P-DHP) algorithm with an actor–critic (AC) structure for path-following control of mobile robots with obstacle avoidance. In the proposed P-DHP, the path-following control and collision avoidance problems are decoupled into two ones to resolve the control conflict. Firstly, a neural network-based AC is constructed to approximate the near-optimal path-following control policy in a no-obstacle environment. Then, with the trained path-following control policy fixed, a potential field-based control policy structure is constructed by another AC network to generate opposite control forces as the robot moves toward the obstacle, which can guarantee the robot’s control safety and reduce the tracking error and input energy consumption in obstacle avoidance. The simulated and experimental results show that P-DHP can realize near-optimal path-following control with the satisfaction of safety constraints and outperforms state-of-the-art approaches in control performance.

As optical parametric chirped pulse amplification has been widely adopted for the generation of extreme intensity laser sources, nonlinear crystals of large aperture are demanded for high-energy amplifiers. Yttrium calcium oxyborate (YCa4O(BO3)3, YCOB) is capable of being grown with apertures exceeding 100 mm, which makes it possible for application in systems of petawatt scale. In this paper, we experimentally demonstrated for the first time to our knowledge, an ultra-broadband non-collinear optical parametric amplifier with YCOB for petawatt-scale compressed pulse generation at 800 nm. Based on the SG-II 5 PW facility, amplified signal energy of approximately 40 J was achieved and pump-to-signal conversion efficiency was up to 42.3%. A gain bandwidth of 87 nm was realized and supported a compressed pulse duration of 22.3 fs. The near-field and wavefront aberration represented excellent characteristics, which were comparable with those achieved in lithium triborate-based amplifiers. These results verified the great potential for YCOB utilization in the future.

We present the design and experiment of a broadband optical parametric chirped-pulse amplifier (OPCPA) which provides high conversion efficiency and good beam quality at 808 nm wavelength. Using a three-dimensional spatial and temporal numerical model, several design considerations necessary to achieve high conversion efficiency, good beam quality and good output stability are discussed. To improve the conversion efficiency and broaden the amplified signal bandwidth simultaneously, the nonlinear crystal length and OPCPA parameters are analyzed and optimized with the concept of dissipating amplified idler between optical parametric amplification (OPA) of two crystals configuration. In the experiment, an amplifier consisting of two OPCPA stages of ‘L’ type configuration was demonstrated by using the optimized parameters. An amplified signal energy of 160 mJ was achieved with a total pump-to-signal efficiency of 35% (43% efficiency for the OPCPA stage 2). The output bandwidth of signal pulse reached 80 nm and the signal pulse was compressed to 24 fs. The energy stability reached 1.67% RMS at 3% pump energy variation. The optimized OPCPA amplifier operates at a repetition rate of 1 Hz and is used as a front-end injection for the main amplifier of SG-II 5PW laser facility.

In this paper, we review the status of the multifunctional experimental platform at the National Laboratory of High Power Laser and Physics (NLHPLP). The platform, including the SG-II laser facility, SG-II 9th beam, SG-II upgrade (SG-II UP) facility, and SG-II 5 PW facility, is operational and available for interested scientists studying inertial confinement fusion (ICF) and a broad range of high-energy-density physics. These facilities can provide important experimental capabilities by combining different pulse widths of nanosecond, picosecond, and femtosecond scales. In addition, the SG-II UP facility, consisting of a single petawatt system and an eight-beam nanosecond system, is introduced including several laser technologies that have been developed to ensure the performance of the facility. Recent developments of the SG-II 5 PW facility are also presented.

We present a recent progress of the SG-II 5PW facility, which designed a multi-petawatt ultrashort pulse laser based on optical parametric chirped-pulse amplification (OPCPA). The prior two optical parametric amplifiers have been accomplished and chirped pulses with an energy of 49.7 J and a full-width-at-half-maximum (FWHM) spectrum bandwidth of 85 nm have been achieved. In the PW-scale optical parametric amplification (OPA), with the pump pulse that has an energy of 118 J from the second harmonic generation of the SG-II 7th beam, the pump-to-signal conversion efficiency is up to 41.9%, which to the best of our knowledge is the highest among all of the reported values for OPCPA systems. The compressed pulse is higher than 37 J in 21 fs (1.76 PW), and the focal spot is ${\sim}10~\unicode[STIX]{x03BC}\text{m}$ after the closed-loop corrections by the adaptive optics. Limited by the repetition of the pump laser, the SG-II 5PW facility operates one shot per hour. It has successfully been employed for high energy physics experiments.

Temporal contrast is one of the crucial physical determinants which guarantee the successful performance of laser–matter interaction experiments. We generally reviewed the influences on the temporal contrast in three categories of noises based on the requirement by the physical mechanisms. The spatiotemporal influences on temporal contrast at the focal region of the chromatic aberration and propagation time difference introduced by large-aperture broadband spatial filters, which were spatiotemporally coupled with compression and focusing, were calculated and discussed with a practical case in SG-II 5 PW ultrashort petawatt laser. The system-wide spatiotemporal coupling existing in large-aperture broadband ultrashort petawatt lasers was proved to be one of the possible causes of temporal contrast degradation in the focal region.

The work presented in this paper is a study of output temporal contrast degradation by near-field quality deterioration, such as intensity modulation and wavefront deviation, in a large aperture high power short pulse laser system. A two-step focusing algorithm with a coordinate transform based on the Fresnel approximation in the space domain is used for simulating the output focused by an off-axis parabolic mirror. The temporal contrast degradation by intensity modulation and wavefront deviation is analyzed and the influence of the diameter on the temporal contrast degradation is revealed. The simulation and assumption results based on the parameters of the Shen Guang-II laser system are compared with the online experimental temporal contrast data. The near-field quality deterioration might lead to temporal contrast degradation, hindering higher temporal contrast in large aperture high power short pulse laser systems.

The dispersion of a pair of prisms is analyzed by means of a ray-tracing method operating at other than tip-to-tip propagation of the prisms, taking into consideration the limited spectral bandwidth. The variations of the group delay dispersion and the third-order dispersion for a pair of prisms are calculated with respect to the incident position and the separation between the prisms. The pair of prisms can provide a wide range of independent and continuous third-order dispersion compensation. The effect of residual third-order dispersion on the pulse contrast ratio and pulse duration is also calculated. The residual third-order dispersion not only worsens the pulse contrast ratio, but also increases the pulse duration to the hundreds of femtosecond range for a tens of femtosecond pulse, even when the residual third-order dispersion is small. These phenomena are helpful in compensating for the residual high-order dispersion and in understanding its effect on pulse contrast ratios and pulse durations in ultrashort laser systems.