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Vector Field-Guided Circumnavigation for an Unmanned Surface Vehicle With Boundary and Obstacle Constraints

IEEE Transactions on Emerging Topics in computing 2025年

作者： Wu, Nailong Wang, Jigang Wang, Yueying He, Shuping Donghua University College of Information Science and Technology Shanghai201620 China Donghua University Engineering Research Center of Digitized Textile & Apparel Technology Ministry of Education Shanghai201620 China Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Hefei230601 China

This article aims to tackle the challenge of rapid target circumnavigation by unmanned surface vehicles (USVs) under boundary and obstacle constraints through leveraging an emerging computing architecture specifically tailored for unmanned systems. Owing to the underactuation of USV dynamic systems and the presence of various time-varying surface disturbances, attaining rapid and accurate position control along with maneuverability poses a significant challenge to USVs. Therefore, when an USV maneuvers around a target in a confined search area with obstacles, it is essential for the guidance law to consider collision risks and environmental disturbances. This paper proposes a modified Lyapunov vector field with heading deviation compensation to circle the target in complex search regions. The vector field is designed to increase the radial velocity of the USV and accelerate convergence towards the target circle during the pursuit phase. By combining the proposed Lyapunov vector field with a boundary vector field, the USV can swiftly avoid boundaries and dynamic obstacles and then continue circling the target. The proposed computing architecture extends the application scope of the target circumnavigation to practical water surface environments, which is validated by extensive simulations and rigorous experiments. © 2025 IEEE.

关键词： Unmanned surface vehicles

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Accelerating evolutionary neural architecture search via multi-fidelity evaluation

arXiv

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arXiv 2021年

作者： Yang, Shangshang Tian, Ye Xiang, Xiaoshu Peng, Shichen Zhang, Xingyi Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Artificial Intelligence Anhui University Hefei230039 China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education Institutes of Physical Science and Information Technology Anhui University Hefei230601 China

Evolutionary neural architecture search (ENAS) has recently received increasing attention by effectively finding high-quality neural architectures, which however consumes high computational cost by training the architecture encoded by each individual for complete epochs in individual evaluation. Numerous ENAS approaches have been developed to reduce the evaluation cost, but it is often difficult for most of these approaches to achieve high evaluation accuracy. To address this issue, in this paper we propose an accelerated ENAS via multifidelity evaluation termed MFENAS, where the individual evaluation cost is significantly reduced by training the architecture encoded by each individual for only a small number of epochs. The balance between evaluation cost and evaluation accuracy is well maintained by suggesting a multi-fidelity evaluation, which identifies the potentially good individuals that cannot survive from previous generations by integrating multiple evaluations under different numbers of training epochs. For high diversity of neural architectures, a population initialization strategy is devised to produce different neural architectures varying from ResNetlike architectures to Inception-like ones. Experimental results on CIFAR-10 show that the architecture obtained by the proposed MFENAS achieves a 2.39% test error rate at the cost of only 0.6 GPU days on one NVIDIA 2080TI GPU, demonstrating the superiority of the proposed MFENAS over state-of-the-art NAS approaches in terms of both computational cost and architecture quality. The architecture obtained by the proposed MFENAS is then transferred to CIFAR-100 and ImageNet, which also exhibits competitive performance to the architectures obtained by existing NAS approaches. The source code of the proposed MFENAS is available at https://***/DevilYangS/MFENAS/.MSC Codes 68W50, 68T07 © 2021, CC BY.

关键词： Convolutional neural networks

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Artificial Intelligence-Generated Terahertz Multi-Resonant Metasurfaces via Improved Transformer and CGAN Neural Networks

arXiv

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arXiv 2023年

作者： Huang, Yangpeng Feng, Naixing Cai, Yijun Smart Sensing Integrated Circuit Engineering Research Center of Universities in Fujian Province Xiamen University of Technology Xiamen361000 China The Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei230601 China Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui University Hefei230601 China

It is well known that the inverse design of terahertz (THz) multi-resonant graphene metasurfaces by using traditional deep neural networks (DNNs) has limited generalization ability. In this paper, we propose improved Transformer and conditional generative adversarial neural networks (CGAN) for the inverse design of graphene metasurfaces based upon THz multi-resonant absorption spectra. The improved Transformer can obtain higher accuracy and generalization performance in the StoV (Spectrum to Vector) design compared to traditional multilayer perceptron (MLP) neural networks, while the StoI (Spectrum to Image) design achieved through CGAN can provide more comprehensive information and higher accuracy than the StoV design obtained by MLP. Moreover, the improved CGAN can achieve the inverse design of graphene metasurface images directly from the desired multi-resonant absorption spectra. It is turned out that this work can finish facilitating the design process of artificial intelligence-generated metasurfaces (AIGM), and even provide a useful guide for developing complex THz metasurfaces based on 2D materials using generative neural networks. Copyright © 2023, The Authors. All rights reserved.

关键词： Graphene

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An Improved Differential Evolution Algorithm Integrating the Plant Evolutionary Strategy

SSRN

引用

SSRN 2024年

作者： Zhang, Xiaoming Cheng, Hongwei Li, Jun Li, Tingjuan Zhang, Panpan Tian, Ye Institutes of Physical Science and Information Technology Anhui University Hefei230601 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei230601 China Qinghai Institute of Science and Technology Information Xining810008 China School of Computer Science and Technology Anhui University Hefei230601 China

Differential evolution algorithm (DE) and their variants often encounter a decrease in population diversity and convergence rate along with the evolution, resulting in local optima and premature convergence. To address this issue, this paper proposes an improved differential evolution integrating the plant evolutionary strategy, named DEPES, leveraging the exploitation capability of DE and the exploration capability of the plant population distribution evolutionary strategy. First, a tri-subpopulation optimization framework with a mutation strategy is introduced to cope with diversity maintenance, convergence enhancement, and local optima a Cauchy mutation operator based on plant population distribution evolutionary model is employed to enhance the exploration capability of the mutation strategy. Second, a parameter control strategy is performed on the superior and inferior solutions to balance the exploitation and exploration of the population. Third, a covariance matrix-based crossover strategy is designed to minimize interference from local population information, consequently generating high-quality solutions. The superior efficiency of DEPES is fully verified by comparing it with advanced DE-based variants and other algorithms on the IEEE CEC2020 test suite and engineering design problems. © 2024, The Authors. All rights reserved.

关键词： Covariance matrix

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Determining the covering radius of all generalized Zetterberg codes in odd characteristic

arXiv

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arXiv 2024年

作者： Shi, Minjia Li, Shitao Helleseth, Tor Özbudak, Ferruh Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Mathematical Sciences Anhui University Hefei230601 China School of Mathematical Sciences Anhui University Anhui Hefei230601 China Department of Informatics University of Bergen Bergen Norway Faculty of Engineering and Natural Sciences Sabancı University Istanbul34956 Turkey

For an integer s ≥ 1, let Cs(q0) be the generalized Zetterberg code of length qs0 + 1 over the finite field Fq0 of odd characteristic. Recently, Shi, Helleseth, and Özbudak (IEEE Trans. Inf. Theory 69(11): 7025-7048, 2023) determined the covering radius of Cs(q0) for (formula presented) (mod 8), and left the remaining case as an open problem. In this paper, we develop a general technique involving arithmetic of finite fields and algebraic curves over finite fields to determine the covering radius of all generalized Zetterberg codes for (formula presented) (mod 8), which therefore solves this open problem. We also introduce the concept of twisted half generalized Zetterberg codes of length (formula presented) , and show the same results hold for them. As a result, we obtain some quasi-perfect codes. Copyright © 2024, The Authors. All rights reserved.

关键词： Turbo codes

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MotionFollower: Editing Video Motion via Lightweight Score-Guided Diffusion

arXiv

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arXiv 2024年

作者： Tu, Shuyuan Dai, Qi Zhang, Zihao Xie, Sicheng Cheng, Zhi-Qi Luo, Chong Han, Xintong Wu, Zuxuan Jiang, Yu-Gang Shanghai Key Lab of Intell. Info. Processing School of CS Fudan University China Shanghai Collaborative Innovation Center of Intelligent Visual Computing China Microsoft Research Asia China Carnegie Mellon University United States Huya Inc.

Despite impressive advancements in diffusion-based video editing models in altering video attributes, there has been limited exploration into modifying motion information while preserving the original protagonist's appearance and background. In this paper, we propose MotionFollower, a lightweight score-guided diffusion model for video motion editing. To introduce conditional controls to the denoising process, MotionFollower leverages two of our proposed lightweight signal controllers, one for poses and the other for appearances, both of which consist of convolution blocks without involving heavy attention calculations. Further, we design a score guidance principle based on a two-branch architecture, including the reconstruction and editing branches, which significantly enhance the modeling capability of texture details and complicated backgrounds. Concretely, we enforce several consistency regularizers and losses during the score estimation. The resulting gradients thus inject appropriate guidance to the intermediate latents, forcing the model to preserve the original background details and protagonists' appearances without interfering with the motion modification. Experiments demonstrate the competitive motion editing ability of MotionFollower qualitatively and quantitatively. Compared with MotionEditor, the most advanced motion editing model, MotionFollower achieves an approximately 80% reduction in GPU memory while delivering superior motion editing performance and exclusively supporting large camera movements and *** Codes 68T45, 68T10 Copyright © 2024, The Authors. All rights reserved.

关键词： Diffusion

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Enhanced Second-Harmonic Generation Driven by Dual-Quasi Bound States in the Continuum

Enhanced Second-Harmonic Generation Driven by Dual-Quasi Bou...

引用

International Applied Computational Electromagnetics Society Symposium (ACES)

作者： Yuhang Liu Xingang Ren Kaikun Niu Zhixiang Huang School of Electronic and Information Engineer Anhui University Hefei China Engineering Technology Research Center of Specific Power Devices with Novel Semiconductor Materials Chizhou Anhui Province China Key Laboratory of Intelligent Computing & Signal Processing Ministry of Education Anhui University Hefei China

Bound state in the continuum (BIC) is a dark mode with infinitely high quality factors(Q-factors), it has recently attracted considerable research attention in photonics. Here, we present a metasurface that can support two BICs, which consists of AlGaAs. By breaking the structural symmetry, the two BICs are transformed into quasi-bic modes because they are not protected by the symmetry. Furthermore, it is found that the two quasi-BICs resonate near the fundamental and the second harmonic respectively, which can be used to enhance efficiency of second harmonic generation. By exploiting the high Q characteristics of this structure at both frequencies, we can obtain a second harmonic generation efficiency of nearly 10– 3 with 1GW/cm 2 of pump intensity. Our proposed metasurface will offer good prospects for nonlinear operation.

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EQ-Net: Elastic Quantization Neural Networks

arXiv

引用

arXiv 2023年

作者： Xu, Ke Han, Lei Tian, Ye Yang, Shangshang Zhang, Xingyi School of Artificial Intelligence Anhui University Hefei China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education Hefei China Institutes of Physical Science and Information Technology Anhui University Hefei China School of Computer Science and Technology Anhui University Hefei China

Current model quantization methods have shown their promising capability in reducing storage space and computation complexity. However, due to the diversity of quantization forms supported by different hardware, one limitation of existing solutions is that usually require repeated optimization for different scenarios. How to construct a model with flexible quantization forms has been less studied. In this paper, we explore a one-shot network quantization regime, named Elastic Quantization Neural Networks (EQ-Net), which aims to train a robust weight-sharing quantization supernet. First of all, we propose an elastic quantization space (including elastic bit-width, granularity, and symmetry) to adapt to various mainstream quantitative forms. Secondly, we propose the Weight Distribution Regularization Loss (WDR-Loss) and Group Progressive Guidance Loss (GPG-Loss) to bridge the inconsistency of the distribution for weights and output logits in the elastic quantization space gap. Lastly, we incorporate genetic algorithms and the proposed Conditional Quantization-Aware Accuracy Predictor (CQAP) as an estimator to quickly search mixed-precision quantized neural networks in supernet. Extensive experiments demonstrate that our EQ-Net is close to or even better than its static counterparts as well as state-of-the-art robust bit-width methods. Code can be available at https://***/xuke225/EQNet. Copyright © 2023, The Authors. All rights reserved.

关键词： Genetic algorithms

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EQ-Net: Elastic Quantization Neural Networks

EQ-Net: Elastic Quantization Neural Networks

引用

International Conference on Computer Vision (ICCV)

作者： Ke Xu Lei Han Ye Tian Shangshang Yang Xingyi Zhang School of Artificial Intelligence Anhui University Hefei China Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education Hefei China School of Computer Science and Technology Anhui University Hefei China Institutes of Physical Science and Information Technology Anhui University Hefei China

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Improving Bert Fine-Tuning via Stabilizing Cross-Layer Mutual Information

Improving Bert Fine-Tuning via Stabilizing Cross-Layer Mutua...

引用

International Conference on Acoustics, Speech, and signal processing (ICASSP)

作者： Jicun Li Xingjian Li Tianyang Wang Shi Wang Yanan Cao Chengzhong Xu Dejing Dou Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences University of Chinese Academy of Sciences Big Data Lab Baidu Research State Key Lab of IOTSC University of Macau University of Alabama at Birmingham Institute of Information Engineering Chinese Academy of Sciences

Fine-tuning pre-trained language models, such as BERT, has shown enormous success among various NLP tasks. Though simple and effective, the process of fine-tuning has been found unstable, which often leads to unexpected poor performance. To increase stability and generalizability, most existing works resort to maintaining the parameters or representations of pre-trained models during fine-tuning. Nevertheless, very little work explores mining the reliable part of pre-learned information that can help to stabilize fine-tuning. To address this challenge, we introduce a novel solution in which we fine-tune BERT with stabilized cross-layer mutual information. Our method aims to preserve the reliable behaviors of cross-layer information propagation, instead of preserving the information itself, of the pre-trained model. Therefore, our method circumvents the domain conflicts between pre-trained and target tasks. We conduct extensive experiments with popular pre-trained BERT variants on NLP datasets, demonstrating the universal effectiveness and robustness of our method.

关键词： Cross layer design Bit error rate signal processing Stability analysis Robustness Acoustics Behavioral sciences

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