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arXiv 2021年

作者： Akhtar, Anique Gao, Wen Li, Li Li, Zhu Jia, Wei Liu, Shan Department of Computer Science and Electrical Engineering University of Missouri-Kansas City Kansas CityMO64110 United States Tencent America 661 Bryant St. Palo AltoCA94301 United States Department of Computer Science and Electrical Engineering University of Missouri-Kansas City Kansas CityMO64110 United States CAS Key Laboratory of Technology in Geo-Spatial Information Processing and Application System University of Science and Technology of China Hefei230027 China

—Photo-realistic point cloud capture and transmission are the fundamental enablers for immersive visual communication. The coding process of dynamic point clouds, especially video-based point cloud compression (V-PCC) developed by the MPEG standardization group, is now delivering state-of-the-art performance in compression efficiency. V-PCC is based on the projection of the point cloud patches to 2D planes and encoding the sequence as 2D texture and geometry patch sequences. However, the resulting quantization errors from coding can introduce compression artifacts, which can be very unpleasant for the quality of experience (QoE). In this work, we developed a novel out-of-the-loop point cloud geometry artifact removal solution that can significantly improve reconstruction quality without additional bandwidth cost. Our novel framework consists of a point cloud sampling scheme, an artifact removal network, and an aggregation scheme. The point cloud sampling scheme employs a cube-based neighborhood patch extraction to divide the point cloud into patches. The geometry artifact removal network then processes these patches to obtain artifact-removed patches. The artifact-removed patches are then merged together using an aggregation scheme to obtain the final artifact-removed point cloud. We employ 3D deep convolutional feature learning for geometry artifact removal that jointly recovers both the quantization direction and the quantization noise level by exploiting projection and quantization prior. The simulation results demonstrate that the proposed method is highly effective and can considerably improve the quality of the reconstructed point cloud. Copyright © 2021, The Authors. All rights reserved.

关键词： Geometry

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Joint Transmission for Industrial 5G-TSN Networks: A Deep Graph Clustering Approach

Joint Transmission for Industrial 5G-TSN Networks: A Deep Gr...

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IEEE International Conference on Communications in China (ICCC)

作者： Mingyan Li Houling Liu Chao Chen Fuqiang Gu Songtao Guo Xinping Guan College of Computer Science Chongqing University Chongqing P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Department of Automation Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798350378412

ISBN: (纸本)9798350378429

The integration of 5G and time-sensitive networking (TSN) is a promising technology to provide ubiquitous connection and deterministic transmission for industrial internet of things (IIoT), However, the seamless flow transmission of 5G-TSN is challenging as it requires joint modeling of frequency multiplexing in 5G and time-access in TSN with the scheduling resolution mis-match of the considered systems. To address this issue, this paper focuses on the integrated enhancement of 5G and TSN by optimizing the flow transmission of age-aware monitoring systems with the protocols of 5G grant-free uplink and TSN cyclic queuing and forwarding (CQF) considered. Then, an age-aware flow clustering scheme, STage, is proposed based on deep graph clustering. STage allows each system transmitting in a grant-free and distributed manner on the resources of a pre-allocated configured-grant (CG), that best suits its spatial realization in terms of 5G device relative location as well as the TSN delivery path. Based on the techniques of graph attentional autoencoder and interference-aware self-clustering, STage can jointly optimize the end-to-end 5G-TSN transmission by reducing the CQF queue overflow in TSN and the co-channel interference in 5G. Simulations show that STage can assist 5G-TSN integrated networks offering superior transmission capabilities under the limited spectrum and queue resources.

关键词： Protocols Job shop scheduling 5G mobile communication Frequency division multiplexing Uplink Interchannel interference Monitoring

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Deep Learning Approach to Modeling and Exploring Random Sources of Gate-All-Around Silicon Nanosheet MOSFETs

Deep Learning Approach to Modeling and Exploring Random Sour...

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2022 International Symposium on VLSI Technology, systems and Applications, VLSI-TSA 2022

作者： Butola, Rajat Li, Yiming Kola, Sekhar Reddy National Yang-Ming Chiao Tung University Parallel and Scientific Computing Laboratory Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Electrical Engineering and Computer Science International Graduate Program Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Institute of Communications Engineering Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Department of Electrical Engineering and Computer Engineering Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Institute of Biomedical Engineering Hsinchu300 Taiwan Center for mmWave Smart Radar System and Technologies National Yang-Ming Chiao Tung University 1001 Ta-Hsueh Rd. Hsinchu300 Taiwan

ISBN: (纸本)9781665409230

In this paper, for the first time, deep learning (DL) based artificial neural network (ANN) is applied to model the effects of various random variations: work function fluctuation, random dopant fluctuation, and interface trap fluctuation, on gate-all-around silicon nanosheet MOSFETs. The number of fluctuations for each source variation is used as input features and their effects on devices of interest are studied qualitatively and quantitatively. The key figures of merit (FoM) are also extracted accurately from the transfer characteristics, which shows the competency of the ANN model in the domain of device modeling. © 2022 IEEE.

关键词： Nanosheets

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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Arc-support line segments revisited: An efficient high-quality ellipse detection

arXiv

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arXiv 2018年

作者： Lu, Changsheng Xia, Siyu Shao, Ming Fu, Yun Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai200240 China School of Automation Southeast University Nanjing210096 China Department of Computer and Information Science University of Massachusetts DartmouthMA02747 United States Department of ECE Northeastern University BostonMA02115 United States

Over the years many ellipse detection algorithms spring up and are studied broadly, while the critical issue of detecting ellipses accurately and efficiently in real-world images remains a challenge. In this paper, we propose a valuable industry-oriented ellipse detector by arc-support line segments, which simultaneously reaches high detection accuracy and efficiency. To simplify the complicated curves in an image while retaining the general properties including convexity and polarity, the arc-support line segments are extracted, which grounds the successful detection of ellipses. The arc-support groups are formed by iteratively and robustly linking the arc-support line segments that latently belong to a common ellipse. Afterward, two complementary approaches, namely, locally selecting the arc-support group with higher saliency and globally searching all the valid paired groups, are adopted to fit the initial ellipses in a fast way. Then, the ellipse candidate set can be formulated by hierarchical clustering of 5D parameter space of initial ellipses. Finally, the salient ellipse candidates are selected and refined as detections subject to the stringent and effective verification. Extensive experiments on three public datasets are implemented and our method achieves the best F-measure scores compared to the state-of-the-art methods. The source code is available at https://***/AlanLuSun/High-quality-ellipse-detection. Copyright © 2018, The Authors. All rights reserved.

关键词： Geometry

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Erratum to “Consensus seeking over directed networks with limited information communication” [Automatica 49 (2) (2013) 610–618]

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Automatica 2014年第9期50卷 2430-2431页

作者： Dequan Li Qipeng Liu Xiaofan Wang Zongli Lin School of Science Anhui University of Science and Technology Huainan 232001 Anhui Province PR China Department of Automation Shanghai Jiao Tong University Shanghai 200240 PR China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 PR China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

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RLSAC: Reinforcement Learning enhanced Sample Consensus for End-to-End Robust Estimation

arXiv

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arXiv 2023年

作者： Nie, Chang Wang, Guangming Liu, Zhe Cavalli, Luca Pollefeys, Marc Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China Department of Computer Science ETH Zürich Switzerland Microsoft Mixed Reality AI Zürich Lab Switzerland

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these algorithms cannot use data features and historical information effectively. In this paper, we propose RLSAC, a novel Reinforcement Learning enhanced SAmple Consensus framework for end-to-end robust estimation. RLSAC employs a graph neural network to utilize both data and memory features to guide exploring directions for sampling the next minimum set. The feedback of downstream tasks serves as the reward for unsupervised training. Therefore, RLSAC can avoid differentiating to learn the features and the feedback of downstream tasks for end-to-end robust estimation. In addition, RLSAC integrates a state transition module that encodes both data and memory features. Our experimental results demonstrate that RLSAC can learn from features to gradually explore a better hypothesis. Through analysis, it is apparent that RLSAC can be easily transferred to other sampling consensus-based robust estimation tasks. To the best of our knowledge, RLSAC is also the first method that uses reinforcement learning to sample consensus for end-to-end robust estimation. We release our codes at https://***/IRMVLab/RLSAC. © 2023, CC BY.

关键词： Reinforcement learning

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Weipeng Cao Xuyang Yao Zhiwu Xu Yinghui Pan Yixuan Sun Dachuan Li Bohua Qiu Muheng Wei Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen) Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model's capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods.

关键词： Visualization Adaptation models Semantics Zero shot learning Neural networks Termination of employment Transformers Market research Sun Optimization

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LU2Net: A Lightweight Network for Real-time Underwater Image Enhancement

arXiv

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arXiv 2024年

作者： Yang, Haodong Xu, Jisheng Lin, Zhiliang He, Jianping The Department of Computer Science Shanghai Jiao Tong University China The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The School of Ocean and Civil Engineering Shanghai Jiao Tong University State Key Laboratory of Ocean Engineering Shanghai200240 China

computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical factors like light refraction and absorption present challenges to underwater vision, which cause degradation of underwater images. A variety of underwater image enhancement methods have been proposed to improve the effectiveness of underwater vision perception. Nevertheless, for real-time vision tasks on underwater robots, it is necessary to overcome the challenges associated with algorithmic efficiency and real-time capabilities. In this paper, we introduce Lightweight Underwater Unet (LU2Net), a novel U-shape network designed specifically for real-time enhancement of underwater images. The proposed model incorporates axial depthwise convolution and the channel attention module, enabling it to significantly reduce computational demands and model parameters, thereby improving processing speed. The extensive experiments conducted on the dataset and real-world underwater robots demonstrate the exceptional performance and speed of proposed model. It is capable of providing well-enhanced underwater images at a speed 8 times faster than the current state-of-the-art underwater image enhancement method. Moreover, LU2Net is able to handle real-time underwater video enhancement. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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Existence results for variational-hemivariational inequality systems with nonlinear couplings

arXiv

引用

arXiv 2022年

作者： Bai, Yunru Costea, Nicuşor Zeng, Shengda School of Science Guangxi University of Science and Technology Guangxi Liuzhou545006 China Department of Mathematics and Computer Science National University of Science and Technology Politehnica Bucharest 313 Splaiul Independent ¸ei Bucharest060042 Romania Guangxi Colleges Universities Key Laboratory of Complex System Optimization and Big Data Processing Yulin Normal University Guangxi Yulin537000 China Jagiellonian University in Krakow Faculty of Mathematics and Computer Science ul. Lojasiewicza 6 Krakow30-348 Poland

MSC Codes 35J88, 39B72, 58E50, 70G75, 74M15In this paper we investigate a system of coupled inequalities consisting of a variational-hemivariational inequality and a quasi-hemivariational inequality on Banach spaces. The approach is topological, and a wide variety of existence results is established for both bounded and unbounded constraint sets in real reflexive Banach spaces. Applications to Contact Mechanics are provided in the last section of the paper. More precisely, we consider a contact model with (possibly) multivalued constitutive law whose variational formulation leads to a coupled system of inequalities. The weak solvability of the problem is proved via employing the theoretical results obtained in the previous section. The novelty of our approach comes from the fact that we consider two potential contact zones and the variational formulation allows us to determine simultaneously the displacement field and the Cauchy stress tensor. © 2022, CC BY.

关键词： Stress tensor

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