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arXiv 2020年

作者： Tang, Wenming Gong, Yuanhao Liu, Kanglin Liu, Jun Pan, Wei Liu, Bozhi Qiu, Guoping College of Information Engineering Shenzhen University Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Mechanical & Automotive Engineering South China University of Technology Department of Research and Development OPT Machine Vision Tech Co. Ltd Jinsheng Road Changan Dongguan Guangdong523860 China School of Computer Science University of Nottingham NottinghamNG8 1BB United Kingdom

Minimizing Gaussian curvature of meshes is fundamentally important for obtaining smooth and developable surfaces. However, there is a lack of computationally efficient and robust Gaussian curvature optimization method. In this paper, we present a simple yet effective method that can efficiently reduce Gaussian curvature for 3D meshes. We first present the mathematical foundation of our method, which states that for any point on a developable surface there must be another point that lives on its tangent plane. Then, based on this theoretical insight, we introduce a simple and robust implicit Gaussian curvature optimization method named Gaussian Curvature Filter (GCF). GCF implicitly minimizes Gaussian curvature without the need to explicitly calculate the Gaussian curvature itself. GCF is highly efficient and is 20 times faster than the classical standard Gaussian curvature flow method. We present extensive experiments to demonstrate that GCF significantly outperforms state-of-the-art methods in minimizing Gaussian curvature, geometric feature preserving smoothing and mesh noise removal. This method can be used in a large range of applications that involve Gaussian curvature. Copyright © 2020, The Authors. All rights reserved.

关键词： Mesh generation

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NTIRE 2022 Challenge on Efficient Super-Resolution: Methods and Results

arXiv

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arXiv 2022年

作者： Li, Yawei Zhang, Kai Timofte, Radu Van Gool, Luc Kong, Fangyuan Li, Mingxi Liu, Songwei Du, Zongcai Liu, Ding Zhou, Chenhui Chen, Jingyi Han, Qingrui Li, Zheyuan Liu, Yingqi Chen, Xiangyu Cai, Haoming Qiao, Yu Dong, Chao Sun, Long Pan, Jinshan Zhu, Yi Zong, Zhikai Liu, Xiaoxiao Hui, Zheng Yang, Tao Ren, Peiran Xie, Xuansong Hua, Xian-Sheng Wang, Yanbo Ji, Xiaozhong Lin, Chuming Luo, Donghao Tai, Ying Wang, Chengjie Zhang, Zhizhong Xie, Yuan Cheng, Shen Luo, Ziwei Yu, Lei Wen, Zhihong Wu, Qi Li, Youwei Fan, Haoqiang Sun, Jian Liu, Shuaicheng Huang, Yuanfei Jin, Meiguang Huang, Hua Liu, Jing Zhang, Xinjian Wang, Yan Long, Lingshun Li, Gen Zhang, Yuanfan Cao, Zuowei Sun, Lei Alexander, Panaetov Wang, Yucong Cai, Minjie Wang, Li Tian, Lu Wang, Zheyuan Ma, Hongbing Liu, Jie Chen, Chao Cai, Yidong Tang, Jie Wu, Gangshan Wang, Weiran Huang, Shirui Lu, Honglei Liu, Huan Wang, keyan Chen, Jun Chen, Shi Miao, Yuchun Huang, Zimo Zhang, Lefei Ayazoglu, Mustafa Xiong, Wei Xiong, Chengyi Wang, Fei Li, Hao Wen, Ruimian Yang, Zhijing Zou, Wenbin Zheng, Weixin Ye, Tian Zhang, Yuncheng Kong, Xiangzhen Arora, Aditya Zamir, Syed Waqas Khan, Salman Hayat, Munawar Khan, Fahad Shahbaz Gao, Dandan Zhou, Dengwen Ning, Qian Tang, Jingzhu Huang, Han Wang, Yufei Peng, Zhangheng Li, Haobo Guan, Wenxue Gong, Shenghua Li, Xin Liu, Jun Wang, Wanjun Zeng, Kun Lin, Hanjiang Chen, Xinyu Fang, Jinsheng Zhang, Shuhao Zhang, Yuhao Sinha, Abhishek Kumar Moorthi, S. Manthira Dhar, Debajyoti Yang, Hao-Hsiang Huang, Zhi-Kai Chen, Wei-Ting Chang, Hua-En Kuo, Sy-Yen Tan, Wei Chen, Hao Xu, Qian Narang, Pratik Singh, Usneek Sameen, Syed Khaitan, Harsh Yinghua, Liu Tianlin, Zhang Xiaoming, Zhang Meng, Dingxuan Tian, Chunwei Morshed, Mashrur M. Ahsan, Ahmad Omar Computer Vision Lab ETH Zurich Switzerland University of Würzburg Germany ByteDance Shenzhen China State Key Laboratory for Novel Software Technology Nanjing University China ByteDance Inc China NetEase Inc. China Shenzhen Institutes of Advanced Technology CAS China University of Macau China Shanghai AI Lab Shanghai China Nanjing University of Science and Technology China Amazon Web Services United States China Alibaba DAMO Academy EFC Yuhang District Zhejiang Hangzhou China East China Normal University China Youtu Lab Tencent China Megvii Technology China University of Electronic Science and Technology of China China School of Artificial Intelligence Beijing Normal University China Alibaba Group China Bilibili AI China Nankai-Baidu Joint Lab Nankai University Tianjin China Platform Technologies Tencent Online Video China Higher School of Economics Russia Huawei Moscow Research Center Russia Hunan University China Xidian University China Xilinx Technology Beijing Limited China College of Information Science and Engineering Xinjiang University Urumqi China Department of Electronic Engineering Tsinghua University Beijing China Nanjing University China McMaster University Canada School of Telecommunication Engineering Xidian University Xi’an China School of Computer Science Wuhan University Wuhan China School of Mathematical Science University of Electronic Science and Technology of China Chengdu China School of Computer Science The University of Sydney Sydney Australia Aselsan Research Ankara Turkey School of Electronic and Information Engineering South-Central University for Nationalities Wuhan China Guangdong University of Technology China Fujian Normal University Fuzhou University Jimei University China Design Group China Abu Dhabi United Arab Emirates Monash University Melbourne Australia Mohamed bin Zayed University of AI United Arab Emirates North China Electric Power University Changping District Beijing China The School of Art

This paper reviews the NTIRE 2022 challenge on efficient single image super-resolution with focus on the proposed solutions and results. The task of the challenge was to super-resolve an input image with a magnification factor of ×4 based on pairs of low and corresponding high resolution images. The aim was to design a network for single image super-resolution that achieved improvement of efficiency measured according to several metrics including runtime, parameters, FLOPs, activations, and memory consumption while at least maintaining the PSNR of 29.00dB on DIV2K validation set. IMDN is set as the baseline for efficiency measurement. The challenge had 3 tracks including the main track (runtime), sub-track one (model complexity), and sub-track two (overall performance). In the main track, the practical runtime performance of the submissions was evaluated. The rank of the teams were determined directly by the absolute value of the average runtime on the validation set and test set. In sub-track one, the number of parameters and FLOPs were considered. And the individual rankings of the two metrics were summed up to determine a final ranking in this track. In sub-track two, all of the five metrics mentioned in the description of the challenge including runtime, parameter count, FLOPs, activations, and memory consumption were considered. Similar to sub-track one, the rankings of five metrics were summed up to determine a final ranking. The challenge had 303 registered participants, and 43 teams made valid submissions. They gauge the state-of-the-art in efficient single image super-resolution. © 2022, CC BY.

关键词： Chemical activation

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ZD controller for Output Tracking,Setting,Zeroing and Maintaining of Time-Varying Linear System

ZD Controller for Output Tracking,Setting,Zeroing and Mainta...

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第37届中国控制会议

作者： Mingjie Zhu Yunong Zhang Chumin Li Yang Shi Zhongxian Xue School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper, with the aid of Zhang dynamics（ZD） method, the ZD controller is designed for output tracking, setting,zeroing and maintaining of time-varying linear（TVL） system. One can see in this paper that ZD controller is an effective controller for output tracking, setting, zeroing and maintaining of TVL system, which can be guaranteed by theoretical ***, to simulate the practical conditions, we make use of ordinary difference equation（ODE） solver to conduct numerical experiments with such a second order TVL system. To verify the efficacy of ZD controller designed for output tracking, setting,zeroing and maintaining of TVL system, we choose different tracking, setting, zeroing and maintaining examples to conduct numerical experiments. By exploiting ZD controller, the error between system output and its desired function practically converges towards zero and remains stable. Numerical experiments verify the efficacy of ZD controller designed for output tracking,setting, zeroing and maintaining of TVL system. It also means that ZD method can also be applied to output tracking, setting,zeroing and maintaining of TVL system, which may just be a small part of potential applications of ZD method.

关键词： Time-varying linear（TVL） system output tracking output setting output zeroing output maintaining

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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About Step-Length of ZeaD（Zhang et al Discretization） Formula 4IgSY for Future Minimization via Fan Equations

About Step-Length of ZeaD（Zhang et al Discretization） Form...

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第30届中国控制与决策会议

作者： Yunong Zhang Zhiyuan Qi Huihui Gong Jian Li Binbin Qiu School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Future minimization,i.e.,discrete time-varying minimization,is a difficult and meaningful *** has been successfully solved by Zhang et al using zeroing dynamics(ZD) and discretization *** this paper,a type of discrete-time ZD(DT-ZD) model,which is obtained via utilizing Zea D(Zhang et al Discretization) formula 4 I2)S Y,is analyzed and investigated to ensure its ***,via theoretical guarantees,we propose the step-length domain,or say,the effective domain of the step-length,which makes the discrete-time model ***,we make further efforts to obtain the step-length optimum which provides the optimal stability of the DT-ZD ***,numerical experiments are performed to validate the step-length domain and the step-length optimum of the DT-ZD model for future minimization.

关键词： Future minimization Zeroing dynamics(ZD) Zhang et al discretization(ZeaD) formula Step-length domain Optimum

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Jerk-Level Cyclic Motion Planning and control for Constrained Redundant Robot Manipulators Using Zhang Dynamics:Theoretics

Jerk-Level Cyclic Motion Planning and Control for Constraine...

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第30届中国控制与决策会议

作者： Min Yang Yunong Zhang Huanchang Huang Dechao Chen Jian Li School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper,based on Zhang dynamics method（ZDM）,a cyclic motion planning（CMP） scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical *** existing works resolved at velocity level or acceleration level,the scheme in this paper is resolved at jerk *** achieve superior performance,the jerk-level CMP scheme is improved by the feedback control,which further leads to a jerk-level cyclic motion planning and control（CMPC） *** cyclic motion criterion and the avoidance of joint physical limits（e.g.,joint-angle,joint-velocity,joint-acceleration and joint-jerk limits） are both considered into the jerklevel CMP and CMPC *** importantly,the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and ***,the jerk-level CMPC scheme is reformulated as a dynamical quadratic program（DQP） which can be solved by a piecewise-linear projection equation neural network（PLPENN）,and also can be solved by a suitable numerical algorithm.

关键词： Constrained robot manipulators Joint drift phenomenon Jerk level Feedback control Theoretics

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Output Tracking of Time-Varying Linear and Nonlinear Systems Using ZN and ZG controllers with Pseudo Division-by-Zero Phenomena Shown

Output Tracking of Time-Varying Linear and Nonlinear Systems...

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第30届中国控制与决策会议

作者： Jinjin Guo Xuyun Yang Yunong Zhang Jian Li Min Yang School of Information Science and Technology Sun Yat-sen University SYSU Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper introduces Zhang neurodynamics(ZN) method and Zhang-gradient(ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG method is composed of the ZN method and gradient neurodynamics(GN) method. By applying the ZN method and the ZG method, respectively, to the output tracking control problems of time-varying linear(TVL) system and time-varying nonlinear(TVN) system, specific ZN controllers and ZG controllers are obtained. Particularly, TVL system and TVN system discussed in this paper may both have pseudo division-by-zero phenomena. From the numerical results, though ZN controllers and ZG controllers perform the output tracking of TVL system and TVN system well, the infinite value of the former and the finite value of the latter at singular instants verify that the ZG method is more effective in dealing with pseudo division-by-zero problem.

关键词： Time-varying linear system Time-varying nonlinear system Output tracking control problem ZN controller ZG controller Pseudo division-by-zero phenomena

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Computer Simulations and Comparisons of Jerk-Level Cyclic Motion Planning and control for CRRM

Computer Simulations and Comparisons of Jerk-Level Cyclic Mo...

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第37届中国控制会议

作者： Dechao Chen Min Yang Huanchang Huang Jian Li Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper, a jerk-level cyclic motion planning and control（CMPC） scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators（CRRM）. Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based（JPIB） scheme, the minimum jerk norm（MJN） scheme and the acceleration-level cyclic motion planning（ALCMP） scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.

关键词： Constrained redundant robot manipulators （CRRM） jerk level cyclic motion planning and control （CMPC） scheme computer simulations comparisons

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Different-Level Dynamic Quadratic Minimization Using Square Root Matrix Based Zhang Equivalency

Different-Level Dynamic Quadratic Minimization Using Square ...

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第30届中国控制与决策会议

作者： Min Yang Huanchang Huang Jian Li Haifeng Hu Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

For quadratic minimization(QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying(i.e., naturally and implicitly dynamic) and may be at different levels(i.e., explicitly dynamic) in practice. In this paper, different from the general QM, a novel different-level dynamic QM(DLDQM) is proposed and investigated. First, the DLDQM solving is split up into two general time-varying QM(TVQM) solving. Then, a solution model is thus proposed and investigated for the DLDQM, by applying square root matrix based Zhang equivalency and Moore-Penrose(MP) generalized inverse. In addition, it is worth pointing out that solving the DLDQM is a new and important attempt of this research. Finally, illustrative numerical experiments are conducted with numerical results presented and analyzed.

关键词： Different-level dynamic quadratic minimization(DLDQM) Square root matrix Zhang equivalency MoorePenrose(MP) generalized inverse

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Proposing,QP-Unification and Verification of DLSM Based MKE-IIWT Scheme for Redundant Robot Manipulators 3

Proposing,QP-Unification and Verification of DLSM Based MKE-...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Min Yang Dechao Chen Weibing Li Dongsheng Guo Xiaogang Yan School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque(IIWT) minimizati

ISBN: (纸本)9781509053643;9781509053636

关键词： Manipulators Torque Minimization Acceleration Kinetic energy Performance analysis

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