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第42届中国控制会议

作者： Guangxu He Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry(Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

The paper studies the leader-following consensus of the switched uncertain time-delay MASs under fixed directed communication *** the switching distributed controller and the minimum dwell time,the sufficient conditions in terms of matrix inequalities are obtained by L-K functional dependent on switching law to guarantee the leader-following consensus ***,an example is given to validate the effectiveness of the results.

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ETO Meets Scheduling: Learning key Knowledge from Single-Objective Problems to Multi-Objective Problem

ETO Meets Scheduling: Learning Key Knowledge from Single-Obj...

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2021 China Automation Congress, CAC 2021

作者： Xu, Wendi Wang, Xianpeng College of Information Science and Engineering Northeastern University China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education China

ISBN: (纸本)9781665426473

Evolutionary transfer optimization(ETO) serves as "a new frontier in evolutionary computation research", which will avoid zero reuse of experience and knowledge from solved problems in traditional evolutionary computation. In schedule-ing applications via ETO, a highly competitive "meeting" framework between them could be constituted towards both intelligent scheduling and green scheduling, especially for carbon neutrality within the context of China. To the best of our knowledge, our study on scheduling here, is the 1st work of ETO for complex optimization when multi-objective problem "meets" single-objective problems in combinatorial case (not multitasking optimization). More specifically, key knowledge like positional building blocks clustered, could be learned and transferred for permutation flow shop scheduling problem (PFSP). Empirical studies on well-studied benchmarks validate relatively firm effectiveness and great potential of our proposed ETO-PFSP framework. © 2021 IEEE

关键词： data analytics

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Event-triggered output regulation bumpless transfer control for discrete-time switched systems under DoS

Event-triggered output regulation bumpless transfer control ...

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第35届中国控制与决策会议

作者： Hanqing Qu Siyuan Zhang Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry (Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

This paper studies the output regulation bumpless transfer control for event-triggered discrete-time switched systems under denial-of-service(DoS) *** switched systems subject to DoS,both the sensor signal and switching signal may be *** satisfy the bumpless transfer(BT) performance,we cannot use the common input zeroing *** problem that the triggering error being attacked may not follow the triggering condition ***,the controller mode may be asynchronous with the plant *** with the above two problems,we design an event-triggered dynamic error feedback controller and a switching law to guarantee that the output regulation problem for switched systems is solvable,and the BT performance can be ***,corresponding sufficient conditions are proposed in the form of linear matrix inequalities(LMIs).Finally,a numerical example is given to illustrate the validity of our results.

关键词： Discrete-time switched systems output regulation bumpless transfer control event-triggering transmission DoS attacks

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Efficiently Trimming the Fat: Streamlining Software Dependencies with Java Reflection and Dependency Analysis

Efficiently Trimming the Fat: Streamlining Software Dependen...

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International Conference on Software Engineering (ICSE)

作者： Xiaohu Song Ying Wang Xiao Cheng Guangtai Liang Qianxiang Wang Zhiliang Zhu Northeastern University Shenyang China Huawei Cloud Computing Technologies Co. Ltd. Beijing China National Frontiers Science Center for Industrial Intelligence and Systems Optimization and Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Shenyang China

ISBN: (数字)9798400702174

ISBN: (纸本)9798350382143

Numerous third-party libraries introduced into client projects are not actually required, resulting in modern software being gradually bloated. Software developers may spend much unnecessary effort to manage the bloated dependencies: keeping the library versions up-to-date, making sure that heterogeneous licenses are compatible, and resolving dependency conflict or vulnerability issues. However, the prior debloating techniques can easily produce false alarms of bloated dependencies since they are less effective in analyzing Java reflections. Besides, the solutions given by the existing approaches for removing bloated dependencies may induce new issues that are not conducive to dependency management. To address the above limitations, in this paper, we developed a technique, Slimming, to remove bloated dependencies from software projects reliably. Slimming statically analyzes the Java reflections that are commonly leveraged by popular frameworks (e.g., Spring Boot) and resolves the reflective targets via parsing configuration files (*. xml, *. ym1 and *. properties). By modeling string manipulations, Slimming fully resolves the string arguments of our concerned reflection APIs to identify all the required dependencies. More importantly, it helps developers analyze the debloating solutions by weighing the benefits against the costs of dependency management. Our evaluation results show that the static reflection analysis capability of Slimming outperforms all the other existing techniques with 97.0% of Precision and 98.8% of Recall. Compared with the prior debloating techniques, Slimming can reliably remove the bloated dependencies with a 100% test passing ratio and improve the rationality of debloating solutions. In our large-scale study in the Maven ecosystem, Slimming reported 484 bloated dependencies to 66 open-source projects. 38 reports (57.6%) have been confirmed by developers.

关键词： Java Ecosystems XML Licenses Reflection Software Libraries

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Superradiant dark matter production from primordial black holes: Impact of multiple modes and gravitational wave emission

arXiv

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arXiv 2025年

作者： Jia, Nayun Bao, Shou-Shan Zhang, Chen Zhang, Hong Zhang, Xin Liaoning Key Laboratory of Cosmology and Astrophysics College of Sciences Northeastern University Shenyang110819 China Shandong University Qingdao266237 China MOE Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Shenyang110819 China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang110819 China

Rotating primordial black holes (PBHs) in the early universe can emit particles through superradiance, a process particularly efficient when the particle’s Compton wavelength is comparable to the PBH’s gravitational radius. Superradiance leads to an exponential growth of particle occupation numbers in gravitationally bound states. We present an analysis of heavy bosonic dark matter (DM) production through three gravitational mechanisms: Hawking radiation, superradiant instabilities, and ultraviolet (UV) freeze-in. We consider PBHs that evaporate before Big Bang Nucleosynthesis (BBN). For both scalar and vector DM, our analysis incorporates the evolution of a second superradiant mode. We demonstrate that the growth of a second superradiant mode causes the decay of the first mode, and thus the second mode cannot further enhance the DM abundance beyond that already achieved by the first mode. Our study also reveals that while superradiance generally enhances DM production, gravitational wave (GW) emission from the superradiant cloud may significantly modify this picture. For scalar DM, GW emission reduces the parameter space where superradiance effectively augments relic abundance. For vector DM, rapid GW emission from the superradiant cloud may yield relic abundances below those achieved through Hawking radiation alone. These findings demonstrate that multiple-mode effect and GW emission play critical roles in modeling DM production from PBHs in the early universe. Copyright © 2025, The Authors. All rights reserved.

关键词： Luminescence

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ASML-VDIO: Visual-Depth-Inertial Odometry using Selected Accurate and Stable Multi-Modal Landmarks in Structural Environments

ASML-VDIO: Visual-Depth-Inertial Odometry using Selected Acc...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xingjian Luo Chenglin Pang Xuankang Wu Zheng Fang Faculty of Robot Science and Engineering Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In complex indoor structural scenes such as shopping centers and malls, camera pose estimation using pure point features is easy to fail due to the difficulty in extracting sufficient and stable point features from weak textures or dynamic environments. Recent works have attempted to address these challenges by introducing line features. However, the addition of line features increases the number of parameters and landmarks for BA (Bundle Adjustment), leading to efficiency reduction. This is a common issue in multi-modal SLAM (Simultaneous Localization And Mapping). To address this issue, this paper proposes a novel visual-depth-inertial odometry (ASML-VDIO) framework by combining RGB-D and IMU sensors. To improve the efficiency of BA, the proposed landmark classification method classifies 3D landmarks into accurate landmarks and other landmarks based on spatial consistency verification and depth range limitation. Then, accurate landmarks are fixed, and only other landmarks are optimized in the optimization of BA. Furthermore, to remove line features extracted from dynamic objects (pedestrian, shopping-car, etc), we propose a dynamic line removal method that combines geometric constraints and motion constraints of line features. Finally, the method is evaluated on public and author-collected datasets, showing competitive accuracy and robustness in complex indoor structural scenes while 71% speedup on optimization thread with same constraints.

关键词： Accuracy Simultaneous localization and mapping Dynamics Pose estimation Feature extraction Cameras Robustness Sensors Odometry optimization

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Model-independent H0 within FLRW: Joint constraints from GWTC-3 standard sirens and strong lensing time delays

arXiv

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arXiv 2025年

作者： Song, Ji-Yu Qi, Jing-Zhao Zhang, Jing-Fei Zhang, Xin Key Laboratory of Cosmology and Astrophysics Department of Physics College of Sciences Northeastern University Liaoning Province Shenyang110819 China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang110819 China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang110819 China

The Hubble tension has emerged as a critical crisis in cosmology, with the cause remaining unclear. Determining the Hubble constant (H0) independently of cosmological models and distance ladders will help resolve this crisis. In this letter, we for the first time use 47 gravitational-wave (GW) standard sirens from the third Gravitational-Wave Transient Catalog to calibrate distances in the strong lensing system, RXJ1131-1231, and constrain H0 through the distance-sum rule, with minimal cosmological assumptions. We assume that light propagation over long distances is described by the Friedmann-Lemaitre-Robertson-Walker metric and that geometrical optics holds, but we do not need to assume the universe’s contents or the theory of gravity on cosmological scales. Fixing ΩK = 0, we obtain H0 = 73.22+5−5.9543 km s−1 Mpc−1 and H0 = 70.40+8−5.0360 km s−1 Mpc−1 by using the deflector galaxy’s mass model and kinematic measurements to break mass-sheet transform, respectively. When ΩK is not fixed, the central value of H0 increases further. We find that our results are still dominated by statistical errors, and at the same time, we notice the great potential of using GW dark sirens to provide calibration, owing to their higher redshifts. When using 42 binary black holes and RXJ1131-1231, we obtain a 8.46% H0 constraint precision, which is better than that from the bright siren GW170817 using the Hubble law by about 40%. In the future, as the redshift range of GW dark sirens increases, more and more SGLTDs can be included, and we can achieve high-precision, model-independent measurements of H0 without the need for GW bright sirens. Copyright © 2025, The Authors. All rights reserved.

关键词： Cosmology

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FlowTrack: Point-level Flow Network for 3D Single Object Tracking

FlowTrack: Point-level Flow Network for 3D Single Object Tra...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Shuo Li Yubo Cui Zhiheng Li Zheng Fang Faculty of Robot Science and Engineering Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames. However, they usually overlook local motion information of the target and fail to exploit historical frame information effectively. To overcome the above limitations, we propose a point-level flow method with multi-frame information for 3D SOT task, called FlowTrack. Specifically, by estimating the flow for each point in the target, our method could capture the local motion details of target, thereby improving the tracking performance. Meanwhile, to handle scenes with sparse points, we present a learnable target feature as the bridge to efficiently integrate target information from past frames. Moreover, we design a Instance Flow Head to transform dense point-level flow into instance-level motion, effectively aggregating local motion information to obtain global target motion. Finally, our method achieves competitive performance with improvements of 5.9% on the KITTI and 2.9% on the NuScenes, compared to the next best method.

关键词： Bridges Target tracking Three-dimensional displays Aggregates Transforms Object tracking Intelligent robots Autonomous vehicles

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EverySync: An Open Hardware Time Synchronization Sensor Suite for Common Sensors in SLAM

EverySync: An Open Hardware Time Synchronization Sensor Suit...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xuankang Wu Haoxiang Sun Rongguang Wu Zheng Fang Faculty of Robot Science and Engineering Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Multi-sensor fusion systems have been widely applied in various fields, including mobile robot, simultaneous localization and mapping (SLAM), and autonomous driving. For a tightly coupled multi-sensor fusion system, strict time synchronization between sensors will improve the accuracy of the system. However, there is currently a lack of open-source and general-purpose hardware synchronization systems for Cameras, IMUs, LiDARs, GNSS/RTK in the academic community. Therefore, we propose EverySync, an open hardware time synchronization system to address this gap. The synchronization accuracy of the system was evaluated through multiple experiments, achieving an accuracy of less than 1 ms. And, real-world experiments proved that hardware time synchronization improves the accuracy of the SLAM system. This open-source system is available on GitHub.

关键词： Simultaneous localization and mapping Accuracy Laser radar Robot vision systems Sensor fusion Cameras Hardware Sensor systems Synchronization Software development management

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Trans-Rotor: An Active Omnidirectional Aerial-Ground Vehicle With Differential Gear Joint Transformation Mechanism

Trans-Rotor: An Active Omnidirectional Aerial-Ground Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xuankang Wu Haoxiang Sun Tong Xiao Yanzhang Pan Zheng Fang Faculty of Robot Science and Engineering Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Aerial-ground vehicles have shown great potential in various fields due to their superior mobility and outstanding endurance. However, most of morphing aerial-ground vehicles consider little about controllability and traversability in ground mode. We present a novel aerial-ground vehicle called TransRotor. By proposing a differential gear joint, we equip TransRotor with omnidirectional mobility in both air and ground mode. Besides, using a four-wheel-steering model in ground mode provides better traversability and ground flexibility. Moreover, we design mid-mode transformation for Trans-Rotor, which provides smooth and rapid mode switching. In this work, we firstly propose a novel design of an aerial-ground vehicle. Then, we propose a decoupled controller considering the four-wheel-steer model to achieve autonomous navigation of the vehicle. Comprehensive experiments and a benchmark comparison are carried out to validate the outstanding performance of the proposed system, where the system shows ground flexibility and saves energy up to more than 95%.

关键词： Gears Switches Benchmark testing Controllability Hardware Kinetic theory Vehicle dynamics Servomotors Intelligent robots Autonomous robots

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