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

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

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

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

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

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

Cosmological Parameter Estimation Using Current and Future Observations of Strong Gravitational Lensing

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arXiv 2022年

作者： Qi, Jing-Zhao Hu, Wei-Hong Cui, Yu Zhang, Jing-Fei Zhang, Xin Department of Physics College of Sciences Northeastern University Shenyang110819 China Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang110819 China Key Laboratory of Data Analytics and Optimization for Smart Industry [Northeastern University Ministry of Education China

Remarkable development of cosmology is benefited from the increasingly improved measurements of cosmic distances including absolute distances and relative distances. In recent years, however, the emerged cosmological tensions motivate us to explore the independent and precise late-universe probes. The two observational effects of strong gravitational lensing (SGL), the velocity dispersions of lens galaxies and the time delays between multiple images, can provide measurements of relative and absolute distances respectively, and their combination is possible to break the degeneracies between cosmological parameters and enable tight constraints on cosmological parameters. In this paper, we combine the observed 130 SGL systems with velocity-dispersion measurements and 7 SGL systems with time-delay measurements to constrain dark-energy cosmological models. It is found that the combination of the two effects does not significantly break the degeneracies between cosmological parameters as expected. However, with the simulations of 8000 SGL systems with well-measured velocity dispersions and 55 SGL systems with well-measured time delays based on the forthcoming LSST survey, we find that the combination of two effects can significantly break the parameter degeneracies, and make the constraint precision of cosmological parameters meet the standard of precision cosmology. We conclude that the observations of SGL will become a useful late-universe probe for precisely measuring cosmological parameters. © 2022, CC BY.

关键词： Timing circuits

A general Dabrowski-Sitarz-Zalecki type theorems for manifold with boundary

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arXiv 2023年

作者： Wu, Tong Wang, Yong Department of Mathematics Northeastern University Shenyang110819 China Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Ministry of Education China School of Mathematics and Statistics Northeast Normal University Changchun130024 China

In [17], we obtained the spectral Einstein functional associated with the Dirac operator for n-dimensional manifolds without boundary. In this paper, we give the proof of general Dabrowski-Sitarz-Zalecki type theorems for the spectral Einstein functional associated with the Dirac operator on even and odd dimensional manifolds with boundary. Copyright © 2023, The Authors. All rights reserved.

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On the cosmological abundance of magnetic monopoles

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arXiv 2024年

作者： Zhang, Chen Zhang, Shi-Hao Fu, Bowen Zhang, Jing-Fei Zhang, Xin College of Sciences Northeastern University 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

We demonstrate that Debye shielding cannot be employed to constrain the cosmological abundance of magnetic monopoles, contrary to what is stated in the previous literature. Current model-independent bounds on the monopole abundance are then revisited for unit Dirac magnetic charge. We find that the Andromeda Parker bound can be employed to set an upper limit on the monopole flux at the level of FM 5.3 × 10−19cm−2s−1sr−1 for a monopole mass 1013 GeV/c2 m 1016 GeV/c2, which is more stringent than the MACRO direct search limit by two orders of magnitude. This translates into stringent constraints on the monopole density parameter ΩM at the level of 10−7–10−4 depending on the mass. For larger monopole masses the scenarios in which magnetic monopoles account for all or the majority of dark matter are disfavored. Copyright © 2024, The Authors. All rights reserved.

关键词： Dark Matter

A forecast of using fast radio burst observations to constrain holographic dark energy

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arXiv 2021年

作者： Qiu, Xing-Wei Zhao, Ze-Wei Wang, Ling-Feng Zhang, Jing-Fei Zhang, Xin Department of Physics College of Sciences Northeastern University Shenyang110819 China MOE Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Shenyang110819 China Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang110819 China

Recently, about five hundred fast radio bursts (FRBs) detected by CHIME/FRB Project have been reported. The vast amounts of data would make FRBs a promising low-redshift cosmological probe in the forthcoming years, and thus the issue of how many FRBs are needed for precise cosmological parameter estimation in different dark energy models should be detailedly investigated. Different from the usually considered w(z)-parameterized models in the literature, in this work we investigate the holographic dark energy (HDE) model and the Ricci dark energy (RDE) model, which originate from the holographic principle of quantum gravity, using the simulated localized FRB data as a cosmological probe for the first time. We show that the Hubble constant H0 can be constrained to about 2% precision in the HDE model with the Macquart relation of FRB by using 10000 accurately-localized FRBs combined with the current CMB data, which is similar to the precision of the SH0ES value. Using 10000 localized FRBs combined with the CMB data can achieve about 6% constraint on the dark-energy parameter c in the HDE model, which is tighter than the current BAO data combined with CMB. We also study the combination of the FRB data and another low-redshift cosmological probe, i.e. gravitational wave (GW) standard siren data, with the purpose of measuring cosmological parameters independent of CMB. Although the parameter degeneracies inherent in FRB and in GW are rather different, we find that more than 10000 FRBs are demanded to effectively improve the constraints in the holographic dark energy models. © 2021, CC BY.

关键词： Holography

Standard siren cosmology in the era of the 2.5-generation ground-based gravitational wave detectors: bright and dark sirens of LIGO Voyager and NEMO

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arXiv 2023年

作者： Jin, Shang-Jie Zhu, Rui-Qi Song, Ji-Yu Han, Tao Zhang, Jing-Fei Zhang, Xin College of Sciences Northeastern University 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 2.5-generation (2.5G) ground-based gravitational wave (GW) detectors LIGO Voyager and NEMO are expected to be operational in the late 2020s and early 2030s. In this work, we explore the potential of GW standard sirens observed by the 2.5G GW detectors in measuring cosmological parameters, especially for the Hubble constant. Using GWs to measure cosmological parameters is inherently challenging, especially for 2.5G detectors, given their limited capability, which results in weaker constraints on cosmological parameters from the detected standard sirens. However, the measurement of the Hubble constant using standard siren observations from Voyager and NEMO is still promising. For example, using bright sirens from Voyager and NEMO can measure the Hubble constant with a precision of about 2% and 6% respectively, and using the Voyager-NEMO network can improve the precision to about 1.6%. Moreover, bright sirens can be used to break the degeneracy of cosmological parameters generated by CMB data, and to a certain extent, 2.5G detectors can also play a role in this aspect. Observations of dark sirens by 2.5G detectors can achieve relatively good results in measuring the Hubble constant, with a precision of within 2%, and if combining observations of bright and dark sirens, the precision of the Hubble constant measurement can reach about 1.4%. Finally, we also discussed the impact of the uncertainty in the binary neutron star merger rate on the estimation of cosmological parameters. We conclude that the magnificent prospect for solving the Hubble tension is worth expecting in the era of the 2.5G ground-based GW detectors. Copyright © 2023, The Authors. All rights reserved.

关键词： Cosmology

A comprehensive forecast for cosmological parameter estimation using joint observations of gravitational waves and short γ-ray bursts

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arXiv 2023年

作者： Han, Tao Jin, Shang-Jie Zhang, Jing-Fei Zhang, Xin College of Sciences Northeastern University 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

In the third-generation (3G) gravitational-wave (GW) detector era, the multi-messenger GW observation for binary neutron star (BNS) merger events can exert great impacts on exploring the cosmic expansion history. In this work, we comprehensively explore the potential of 3G GW standard siren observations in cosmological parameter estimations by considering the 3G GW detectors and the future short γ-ray burst (GRB) detector THESEUS-like telescope joint observations. Based on the 10-year observation of different detection strategies, we predict that the numbers of detectable GW-GRB events are 334-674 with the redshifts z ◦. For the cosmological analysis, we consider the ΛCDM, wCDM, w0waCDM models, and interacting dark energy (IDE) models. We find that GW can tightly constrain the Hubble constant with precisions of 0.345%-0.065%, but perform not well in constraining other cosmological parameters. Fortunately, GW could effectively break the cosmological parameter degeneracies generated by the mainstream EM observations, CMB+BAO+SN (CBS). When combining the mock GW data with the CBS data, CBS+GW can tightly constrain the equation of state of dark energy w with a precision of 1.26%, close to the standard of precision cosmology. Meanwhile, the addition of GW to CBS could improve constraints on cosmological parameters by 34.2%-94.9%. In conclusion, GW standard siren observations from 3G GW detectors could play a crucial role in helping solve the Hubble tension and probe the fundamental nature of dark energy. Copyright © 2023, The Authors. All rights reserved.

关键词： Gravity waves

Differential Evolution With Multivariate Gaussian Sampling For Sensor Arrangement

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Differential Evolution With Multivariate Gaussian Sampling F...

China Semiconductor Technology International Conference (CSTIC)

作者： Kuiling Du Gang Tang National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry (Northeastern University) Ministry of Education Shenyang China China Construction Fifth Engineering Bureau Ltd Changsha Hunan China

Sensor arrangement problems with the unknown number of sensors and obstacles in an area to be covered by sensors, which are complicated for common evolutionary algorithms to search for the global optimum. This paper presented a new evolutionary algorithm to solve the problem, which utilized hybrid mutation and a specific crossover strategy. Sampling the best individual of the population using the multivariate Gaussian distribution during the mutation process, and the individuals generated by multivariate Gaussian sampling would skip the crossover to selection. It has been proved that the new algorithm has better solution quality and faster convergent speed than classic differential evolution (DE).

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