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General formation control for multi-agent systems with double-integrator dynamics

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arXiv 2018年

作者： Wang, Chen Xia, Weiguo Sun, Jinan Fan, Ruifeng Xie, Guangming State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China National Engineering Research Center for Software Engineering Peking University Beijing100871 China

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations that the distances between neighboring agents or the distances from each agent to the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors. A distributed control law is designed using the limit-cycle based idea to solve the problem. One merit of the controller is that it can be implemented by each agent in its Frenet-Serret frame so that only local information is utilized without knowing global information. Theoretical analysis is provided of the equilibrium of the N-agent system and of the convergence of its converging part. Numerical simulations are given to show the effectiveness and performance of the proposed controller. Copyright © 2018, The Authors. All rights reserved.

关键词： Mobile agents

MedShapeNet - A Large-Scale Dataset of 3D Medical Shapes for computer Vision

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arXiv 2023年

作者： Li, Jianning Zhou, Zongwei Yang, Jiancheng Pepe, Antonio Gsaxner, Christina Luijten, Gijs Qu, Chongyu Zhang, Tiezheng Chen, Xiaoxi Li, Wenxuan Wodzinski, Marek Friedrich, Paul Xie, Kangxian Jin, Yuan Ambigapathy, Narmada Nasca, Enrico Solak, Naida Melito, Gian Marco Vu, Viet Duc Memon, Afaque R. Schlachta, Christopher De Ribaupierre, Sandrine Patel, Rajnikant Eagleson, Roy Chen, Xiaojun Mächler, Heinrich Kirschke, Jan Stefan de la Rosa, Ezequiel Christ, Patrick Ferdinand Li, Hongwei Bran Ellis, David G. Aizenberg, Michele R. Gatidis, Sergios Küstner, Thomas Shusharina, Nadya Heller, Nicholas Andrearczyk, Vincent Depeursinge, Adrien Hatt, Mathieu Sekuboyina, Anjany Löffler, Maximilian Liebl, Hans Dorent, Reuben Vercauteren, Tom Shapey, Jonathan Kujawa, Aaron Cornelissen, Stefan Langenhuizen, Patrick Ben-Hamadou, Achraf Rekik, Ahmed Pujades, Sergi Boyer, Edmond Bolelli, Federico Grana, Costantino Lumetti, Luca Salehi, Hamidreza Ma, Jun Zhang, Yao Gharleghi, Ramtin Beier, Susann Sowmya, Arcot Garza-Villarreal, Eduardo A. Balducci, Thania Angeles-Valdez, Diego Souza, Roberto Rittner, Leticia Frayne, Richard Ji, Yuanfeng Ferrari, Vincenzo Chatterjee, Soumick Dubost, Florian Schreiber, Stefanie Mattern, Hendrik Speck, Oliver Haehn, Daniel John, Christoph Nürnberger, Andreas Pedrosa, João Ferreira, Carlos Aresta, Guilherme Cunha, António Campilho, Aurélio Suter, Yannick Garcia, Jose Lalande, Alain Vandenbossche, Vicky Van Oevelen, Aline Duquesne, Kate Mekhzoum, Hamza Vandemeulebroucke, Jef Audenaert, Emmanuel Krebs, Claudia van Leeuwen, Timo Vereecke, Evie Heidemeyer, Hauke Röhrig, Rainer Hölzle, Frank Badeli, Vahid Krieger, Kathrin Gunzer, Matthias Chen, Jianxu van Meegdenburg, Timo Dada, Amin Balzer, Miriam Fragemann, Jana Jonske, Frederic Rempe, Moritz Malorodov, Stanislav Bahnsen, Fin H. Seibold, Constantin Jaus, Alexander Marinov, Zdravko Jaeger, Paul F. Stiefelhagen, Rainer Santos, Ana Sofia Lindo, Mariana Ferreira, André Alves, Victor Kamp, Michael Abourayya, Amr Nensa, Felix Hörst, Fabian Brehmer, Alexander Hein Girardetstraße 2 Essen45131 Germany Graz University of Technology Inffeldgasse 16c Graz8010 Austria Graz Austria The Department of Computer Science Johns Hopkins University Malone Hall 3400 N Charles St BaltimoreMD21218 United States Rte Cantonale Lausanne1015 Switzerland The Department of Measurement and Electronics AGH University of Science and Technology Krakow Poland Sierre Switzerland Department of Biomedical Engineering University of Basel Hegenheimermattweg Allschwil167C CH-4123 Switzerland The Boston College 140 Commonwealth Ave Chestnut HillMA02467 United States University Hospital B7-200 339 Windermere Road LondonN6A 5A5 Canada The Department of Radiology Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai200240 China The Research Center for Connected Healthcare Big Data ZhejiangLab Zhejiang Hangzhou311121 China The Faculty of Statistics Technical University Dortmund August-Schmidt-Straße 1 Dortmund44227 Germany The Institute of Mechanics Graz University of Technology Kopernikusgasse 24/IV Graz8010 Austria The Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China The Department of Cardiac Surgery Medical University Graz Auenbruggerplatz 29 Graz8036 Austria The Department of Diagnostic and Interventional Radiology University Hospital Giessen Justus-Liebig-University Giessen Klinikstraße 33 Giessen35392 Germany The Department of Mechanical Engineering Mehran University of Engineering and Technology Jamshoro Sindh76062 Pakistan The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Geschäftsführender Oberarzt Abteilung für Interventionelle und Diagnostische Neuroradiologie Universitätsklinikum der Technischen Universität München Ismaningerstr. 22 München81675 Germany icometrix Kolonel Be

Prior to the deep learning era, shape was commonly used to describe the objects. Nowadays, state-of-the-art (SOTA) algorithms in medical imaging are predominantly diverging from computer vision, where voxel grids, meshes, point clouds, and implicit surface models are used. This is seen from numerous shape-related publications in premier vision conferences as well as the growing popularity of ShapeNet (about 51,300 models) and Princeton ModelNet (127,915 models). For the medical domain, we present a large collection of anatomical shapes (e.g., bones, organs, vessels) and 3D models of surgical instrument, called MedShapeNet, created to facilitate the translation of data-driven vision algorithms to medical applications and to adapt SOTA vision algorithms to medical problems. As a unique feature, we directly model the majority of shapes on the imaging data of real patients. As of today, MedShapeNet includes 23 datasets with more than 100,000 shapes that are paired with annotations (ground truth). Our data is freely accessible via a web interface and a Python application programming interface (API) and can be used for discriminative, reconstructive, and variational benchmarks as well as various applications in virtual, augmented, or mixed reality, and 3D printing. Exemplary, we present use cases in the fields of classification of brain tumors, skull reconstructions, multi-class anatomy completion, education, and 3D printing. In future, we will extend the data and improve the interfaces. The project pages are: https://***/ and https://***/Jianningli/*** Codes 68T01 © 2023, CC BY.

关键词： Large dataset

A Second-Order Variational Framework for Joint Depth Map Estimation and Image Dehazing

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A Second-Order Variational Framework for Joint Depth Map Est...

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Ryan Wen Liu Shengwu Xiong Huisi Wu Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Nanjing University of Science and Technology Nanjing China School of Computer Science and Technology Wuhan University of Technology Wuhan China College of Computer Science and Software Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9781538646595

Outdoor images captured in poor weather conditions (e.g., fog or haze) commonly suffer from reduced contrast and visibility. Increasing attention has recently been paid to single image dehazing, i.e., improving image contrast and visibility. It is generally thought that the dehazing performance highly depends on the accurate depth information. In this work, we first obtain the initial depth map by using the popular dark channel prior. A unified second-order variational framework is then proposed to refine the depth map and restore the haze-free image. The introduced second-order framework has the capacity of preserving important structures in both depth map and haze-free image. Furthermore, the proposed framework performs well for several different types of haze situations. The resulting optimization problems related to depth map estimation and latent image restoration can be effectively handled using the primal-dual algorithm under a two-step numerical framework. The effectiveness of our proposed method has been demonstrated by comparing the imaging performance with several state-of-the-art dehazing methods.

关键词： Optimization TV Estimation Image restoration Imaging Navigation computer science

Mask-aware networks for crowd counting

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arXiv 2018年

作者： Jiang, Shengqin Lu, Xiaobo Lei, Yinjie Liu, Lingqiao School of Computer Science University of Adelaide AdelaideSA5005 Australia Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Automatic Southeast University Nanjing210096 China Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China College of Electronics and Information Engineering Sichuan University Chengdu610064 China School of Computer Science University of Adelaide AdelaideSA5005 Australia

Crowd counting problem aims to count the number of objects within an image or a frame in the videos and is usually solved by estimating the density map generated from the object location annotations. The values in the density map, by nature, take two possible states: zero indicating no object around, a non-zero value indicating the existence of objects and the value denoting the local object density. In contrast to traditional methods which do not differentiate the density prediction of these two states, we propose to use a dedicated network branch to predict the object/non-object mask and then combine its prediction with the input image to produce the density map. Our rationale is that the mask prediction could be better modeled as a binary segmentation problem and the difficulty of estimating the density could be reduced if the mask is known. A key to the proposed scheme is the strategy of incorporating the mask prediction into the density map estimator. To this end, we study five possible solutions, and via analysis and experimental validation we identify the most effective one. Through extensive experiments on five public datasets, we demonstrate the superior performance of the proposed approach over the baselines and show that our network could achieve the state-of-the-art performance. Copyright © 2018, The Authors. All rights reserved.

关键词： Forecasting

Multi-classification of Parkinson's Disease via Sparse Low-Rank Learning

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Multi-classification of Parkinson's Disease via Sparse Low-R...

International Conference on Pattern Recognition

作者： Haijun Lei Yujia Zhao Zhongwei Huang Feng Zhou Limin Huang Baiying Lei College of Computer Science & Software Engineering Guangdong Province Key Laboratory of Popular High-Performance Computers Shenzhen China Department of Industrial and Manufacturing Systems Engineering University of Michigan Dearborn Michigan USA The Operations Center of Shenzhen People's Hospital Shenzhen China School of Biomedical Engineering Guangdong Key Laboratory for Biomedical Measurements and Ultrasound Imaging Shenzhen China

Neuroimaging techniques have been widely applied to various neurodegenerative disease analysis to reveal the intricate brain structure. The high dimensional neuroimaging features and limited sample size are the main challenges for the diagnosis task due to the unbalanced input data. To handle it, a sparse low-rank learning framework is proposed, which unveils the underlying relationships between input data and output targets by building a matrix-regularized feature network. Then we obtain the feature weight from the network based on local clustering coefficients. By discarding the irrelevant features and preserving the discriminative structured features, our proposed method can select the most relevant features and identify different stages of Parkinson's disease (PD) from normal controls. Extensive experimental results evaluated on the Parkinson's progression markers initiative (PPMI) dataset demonstrate that the proposed method achieves promising classification performance and outperforms the conventional algorithms. Furthermore, it can detect potential brain regions related to PD for future medical analysis.

关键词： Sparse matrices Feature extraction Diseases Neuroimaging Diffusion tensor imaging Support vector machines

Reverse Furthest Neighbors Query in Road Networks

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Journal of computer Science & Technology 2017年第1期32卷 155-167页

作者： Xiao-Jun Xu Jin-Song Bao Bin Yao Jing-Yu Zhou Fei-Long Tang Min-Yi Guo Jian-Qiu Xu School of Software Beijing Institute of Technology Beijing 100081 China First Research Institute of Ministry of Public Security Beijing 100048 China College of Mechanical Engineering Donghua University Shanghai 200051 China Shanghai Key Laboratory of Scalable Computing and Systems Shanghai Jiao Tong University Shanghai 200240 China Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Given a road network G = （V, E）, where V（E） denotes the set of vertices（edges） in G, a set of points of interest P and a query point q residing in G, the reverse furthest neighbors （RFNR） query in road networks fetches a set of points p ∈ P that take q as their furthest neighbor compared with all points in P ∪ {q}. This is the monochromatic RFNR （MRFNR） query. Another interesting version of RFNR query is the bichromatic reverse furthest neighbor （BRFNR） query. Given two sets of points P and Q, and a query point q ∈ Q, a BRFNR query fetches a set of points p ∈ P that take q as their furthest neighbor compared with all points in Q. This paper presents efficient algorithms for both MRFNR and BRFNR queries, which utilize landmarks and partitioning-based techniques. Experiments on real datasets confirm the efficiency and scalability of proposed algorithms.

关键词： reverse furthest neighbor road network landmark hierarchical partition

Sedimentation of general shaped particles using a multigrid fictitious boundary method

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Physics of Fluids 2020年第6期32卷

作者： Khuram Walayat Nazia Talat Saqia Jabeen Kamran Usman Moubin Liu (刘谋斌) 1BIC-ESAT College of Engineering Peking University Beijing 100871 China 2State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science Peking University Beijing 100871 China 3Faculty of Engineering Technology (ET) Department of Thermal and Fluid Engineering (TFE) University of Twente Enschede 7500 AE The Netherlands 4Department of Computer Science Bahria University Islamabad 44000 Pakistan 5Department of Mathematics Faculty of Basic and Applied Sciences Air University Islamabad 44000 Pakistan

In this paper, a direct numerical simulation technique, the Finite Element Fictitious Boundary Method (FBM), is used to simulate fluid–solid two-phase flows of different general shaped particles. The momentum interactions between solid and fluid phases are handled by using the FBM. The continuity and momentum equations are solved on a fixed Eulerian grid that is independent of flow features by using a discrete projection scheme inside a multi-grid finite element approach. A detailed description is presented for the geometric representation and modeling of two-dimensional particles of different general shapes, i.e., circular, elliptical, square, rectangular, triangular, and pentagonal shapes inside the fluid. We discussed the effects of particle shapes and the influences on the settling behavior of the particles. A comparison of the settling trajectories of the particles of the same mass but with different shapes is presented. Moreover, depending upon the particle’s shape, some interesting facts are discovered, which have a great influence on the particles’ trajectory and settling velocity. Some very important correlations between the drag force coefficient and particle’s Reynolds numbers with different density ratios of particles are obtained. Furthermore, we also studied the settling behavior of elliptical and rectangular particles with different axis ratios and a boomerang particle with different concave *** authors of the article agree to the retraction of the article effective AUGUST 20, 2021.

关键词：

BPaaS: A platform for artifact-centric business process customization in cloud computing 29

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BPaaS: A platform for artifact-centric business process cust...

29th International Conference on software engineering and Knowledge engineering, SEKE 2017

作者： Gao, Min Yin, Yu Wang, Xingfei Li, Ying Chen, Zaidie Guo, Lipeng Key Laboratory of Complex Systems Modeling and Simulation of Ministry of Education College of Electrical Engineering Hangzhou Dianzi University Zhejiang China College of Computer Science Zhejiang University Zhejiang Hangzhou China College of Computer Science Fudan University Shanghai China Hangzhou Housing Management Bureaus Hangzhou Zhejiang China

ISBN: (纸本)1891706411

As a new service paradigm of software-As-A-Service (SaaS),Business Process-As-A-Service (BPaaS). BPaaS is used to build a cost-effective Business Process Management (BPM) system. Based on universal Artifacts, we develop a framework named SeGA (Self-Guided Artifact). In SeGA, a BPM system is capable of executing business processes from multiple clients, and responding query at runtime. what's more, by the template-based cascading data mapping method, entity to be synchronized with database automatically, so each BP instance can modify its process entity without worrying about the database access. In this paper, we conduct a deep research and implement a prototype system for Artifact process design.

关键词： Process design

Multi-view hybrid embedding: A divide-and-conquer approach

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arXiv 2018年

作者： Xu, Jiamiao Yu, Shujian You, Xinge Leng, Mengjun Jing, Xiao-Yuan Chen, C. L. Philip School of Electronic Information and Communications Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Science University of Houston HoustonTX77204 United States State Key Laboratory of Software Engineering School of Computer Wuhan University China Department of Computer and Information Science Faculty of Science and Technology University of Macau Macau99999 China Dalian Maritime University Dalian116026 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

We present a novel cross-view classification algorithm where the gallery and probe data come from different views. A popular approach to tackle this problem is the multiview subspace learning (MvSL) that aims to learn a latent subspace shared by multi-view data. Despite promising results obtained on some applications, the performance of existing methods deteriorates dramatically when the multi-view data is sampled from nonlinear manifolds or suffers from heavy outliers. To circumvent this drawback, motivated by the Divideand-Conquer strategy, we propose Multi-view Hybrid Embedding (MvHE), a unique method of dividing the problem of cross-view classification into three subproblems and building one model for each subproblem. Specifically, the first model is designed to remove view discrepancy, whereas the second and third models attempt to discover the intrinsic nonlinear structure and to increase discriminability in intra-view and interview samples respectively. The kernel extension is conducted to further boost the representation power of MvHE. Extensive experiments are conducted on four benchmark datasets. Our methods demonstrate overwhelming advantages against the stateof-the-art MvSL based cross-view classification approaches in terms of classification accuracy and robustness. Copyright © 2018, The Authors. All rights reserved.

关键词： Embeddings