arXiv subjects

Fei Gao

Publications and source records attributed to Fei Gao.

At least 397 records · Page 22Linked to original sources

arXiv2021

Chemical Freeze-out Parameters via a Non-perturbative QCD Approach

By analyzing the calculated baryon number susceptibility ratios ${χ_{1}^{B}}/{χ_{2}^{B}}$ and ${χ_{3}^{B}}/{χ_{1}^{B}}$ in two-flavor system via the Dyson-Schwinger equation approach of QCD, we determine the chemical freeze-out temperature and baryon chemical potential in cases of both thermodynamic limit and finite size. We calculate the center-of-mass energy dependence of the ${χ_{4}^{B}}/{χ_{2}^{B}}\, (κσ^{2})$ at the freeze-out line and find an excellent agreement with experimental data when taking into account the finite size effect. Our calculations indicate that the $κσ^{2}$ exhibits a nonmonotonic behavior in lower collision energy region. We also predict that the collision energy dependence of ${χ_{6}^{B}}/{χ_{2}^{B}}$ is nonmonotonic.

hep-ph↗

arXiv2021

Photoacoustic digital brain: numerical modelling and image reconstruction via deep learning

Photoacoustic tomography (PAT) is a newly developed medical imaging modality, which combines the advantages of pure optical imaging and ultrasound imaging, owning both high optical contrast and deep penetration depth. Very recently, PAT is studied in human brain imaging. Nevertheless, while ultrasound waves are passing through the human skull tissues, the strong acoustic attenuation and aberration will happen, which causes photoacoustic signals' distortion. In this work, we use 10 magnetic resonance angiography (MRA) human brain volumes, and manually segment them to obtain the 2D human brain numerical phantoms for PAT. The numerical phantoms contain six kinds of tissues which are scalp, skull, white matter, gray matter, blood vessel and cerebral cortex. For every numerical phantom, optical properties are assigned to every kind of tissues. Then, Monte-Carlo based optical simulation is deployed to obtain the photoacoustic initial pressure. Then, we made two k-wave simulation cases: one takes inhomogeneous medium and uneven sound velocity into consideration, and the other not. Then we use the sensor data of the former one as the input of U-net, and the sensor data of the latter one as the output of U-net to train the network. We randomly choose 7 human brain PA sinograms as the training dataset and 3 human brain PA sinograms as the testing set. The testing result shows that our method could correct the skull acoustic aberration and obtain the blood vessel distribution inside the human brain satisfactorily.

physics.med-ph↗

arXiv2021

Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is designed to avoid reciprocal collisions when vehicles deviate from their nominal flight progress under disturbance. We further show the minimum-singularity differential flatness of our drone dynamics with nonlinear drag effects involved. Leveraging the flatness map, trajectory optimization is efficiently conducted on the flat outputs while still subject to physical limits considering drag forces at high speeds. The robustness and effectiveness of our framework are both validated in large-scale simulations. It can compute collision-free trajectories satisfying high-fidelity vehicle constraints for hundreds of drones in a few minutes.

cs.RO↗

arXiv2021

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning

In constrained solution spaces with a huge number of homotopy classes, stand-alone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is integrated to alleviate this problem. In this paper, we propose to thrive the trajectory tree growing by optimizing the tree in the forms of deformation units, and each unit contains one tree node and all the edges connecting it. The deformation proceeds both spatially and temporally by optimizing the node state and edge time durations efficiently. The unit only changes the tree locally yet improves the overall quality of a corresponding sub-tree. Further, variants to deform different tree parts considering the computation burden and optimizing level are studied and compared, all showing much faster convergence. The proposed deformation is compatible with different RRT-based kinodynamic planning methods, and numerical experiments show that integrating the spatio-temporal deformation greatly accelerates the convergence and outperforms the spatial-only deformation.

cs.RO↗

arXiv2021

Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing

With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always controls the drone to agilely avoid obstacles in aggressive attitudes, for reaching the destination as fast as possible. Autonomous flight like elite pilots requires planning in SE(3), whose non-triviality and complexity hindering a convincing solution in our community by now. To bridge this gap, this paper proposes an open-source baseline, which includes a high-performance SE(3) planner and a challenging simulation platform tailored for drone racing. We specify the SE(3) trajectory generation as a soft-penalty optimization problem, and speed up the solving process utilizing its underlying parallel structure. Moreover, to provide a testbed for challenging the planner, we develop delicate drone racing tracks which mimic real-world set-up and necessities planning in SE(3). Besides, we provide necessary system components such as common map interfaces and a baseline controller, to make our work plug-in-and-use. With our baseline, we hope to future foster the research of SE(3) planning and the competition of autonomous drone racing.

cs.RO↗

arXiv2021

Kernel Mean Estimation by Marginalized Corrupted Distributions

Estimating the kernel mean in a reproducing kernel Hilbert space is a critical component in many kernel learning algorithms. Given a finite sample, the standard estimate of the target kernel mean is the empirical average. Previous works have shown that better estimators can be constructed by shrinkage methods. In this work, we propose to corrupt data examples with noise from known distributions and present a new kernel mean estimator, called the marginalized kernel mean estimator, which estimates kernel mean under the corrupted distribution. Theoretically, we show that the marginalized kernel mean estimator introduces implicit regularization in kernel mean estimation. Empirically, we show on a variety of datasets that the marginalized kernel mean estimator obtains much lower estimation error than the existing estimators.

cs.LG↗

arXiv2021

EVA-Planner: Environmental Adaptive Quadrotor Planning

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages.

cs.RO↗

arXiv2021

Fully coupled functional equations for the quark sector of QCD

We present a comprehensive study of the quark sector of $2+1$ flavour QCD, based on a self-consistent treatment of the coupled system of Schwinger-Dyson equations for the quark propagator and the full quark-gluon vertex. The individual form factors of the quark-gluon vertex are expressed in a special tensor basis obtained from a set of gauge-invariant operators. The sole external ingredient used as input to our equations is the Landau gauge gluon propagator with $2+1$ dynamical quark flavours, obtained from studies with Schwinger-Dyson equations, the functional renormalisation group approach, and large volume lattice simulations. The appropriate renormalisation procedure required in order to self-consistently accommodate external inputs stemming from other functional approaches or the lattice is discussed in detail, and the value of the gauge coupling is accurately determined at two vastly separated renormalisation group scales. Our analysis establishes a clear hierarchy among the vertex form factors. We identify only three dominant ones, in agreement with previous results. The components of the quark propagator obtained from our approach are in excellent agreement with the results from Schwinger-Dyson equations, the functional renormalisation group, and lattice QCD simulation, a simple benchmark observable being the chiral condensate in the chiral limit, which is computed as $(245\,\textrm{MeV})^3$. The present approach has a wide range of applications, including the self-consistent computation of bound-state properties and finite temperature and density physics, which are briefly discussed.

hep-ph↗

arXiv2021

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital importance for planning and control of the vehicle. To this end, we propose a tightly-coupled Visual-Inertial-Dynamics (VID) system that simultaneously estimates the external force applied to the quadrotor along with the 6 DoF pose. Our method builds on the state-of-the-art optimization-based Visual-Inertial system, with a novel deduction of the dynamics and external force factor extended from VIMO. Utilizing the proposed dynamics and external force factor, our estimator robustly and accurately estimates the external force even when it varies widely. Moreover, since we explicitly consider the influence of the external force, when compared with VIMO and VINS-Mono, our method shows comparable and superior pose accuracy, even when the external force ranges from neglectable to significant. The robustness and effectiveness of the proposed method are validated by extensive real-world experiments and application scenario simulation. We will release an open-source package of this method along with datasets with ground truth force measurements for the reference of the community.

cs.RO↗

arXiv2021

Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms

Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This report introduces decentralized spatial-temporal trajectory planning, which puts a well-formed trajectory representation named MINCO into multi-agent scenarios. Our method ensures high-quality local planning for each agent subject to any constraint from either the coordination of the swarm or safety requirements in cluttered environments. Then, the local trajectory generation is formulated as an unconstrained optimization problem that is efficiently solved in milliseconds. Moreover, a decentralized asynchronous mechanism is designed to trigger the local planning for each agent. A systematic solution is presented with detailed descriptions of careful engineering considerations. Extensive benchmarks and indoor/outdoor experiments validate its wide applicability and high quality. Our software will be released for the reference of the community.

cs.RO↗

arXiv2021

TabularNet: A Neural Network Architecture for Understanding Semantic Structures of Tabular Data

Tabular data are ubiquitous for the widespread applications of tables and hence have attracted the attention of researchers to extract underlying information. One of the critical problems in mining tabular data is how to understand their inherent semantic structures automatically. Existing studies typically adopt Convolutional Neural Network (CNN) to model the spatial information of tabular structures yet ignore more diverse relational information between cells, such as the hierarchical and paratactic relationships. To simultaneously extract spatial and relational information from tables, we propose a novel neural network architecture, TabularNet. The spatial encoder of TabularNet utilizes the row/column-level Pooling and the Bidirectional Gated Recurrent Unit (Bi-GRU) to capture statistical information and local positional correlation, respectively. For relational information, we design a new graph construction method based on the WordNet tree and adopt a Graph Convolutional Network (GCN) based encoder that focuses on the hierarchical and paratactic relationships between cells. Our neural network architecture can be a unified neural backbone for different understanding tasks and utilized in a multitask scenario. We conduct extensive experiments on three classification tasks with two real-world spreadsheet data sets, and the results demonstrate the effectiveness of our proposed TabularNet over state-of-the-art baselines.

cs.LG↗

arXiv2021

Application of radial basis functions neutral networks in spectral functions

The reconstruction of spectral function from correlation function in Euclidean space is a challenging task. In this paper, we employ the Machine Learning techniques in terms of the radial basis functions networks to reconstruct the spectral function from a finite number of correlation data. To test our method, we first generate one type of correlation data using a mock spectral function by mixing several Breit-Wigner propagators. We found that compared with other traditional methods, TSVD, Tikhonov, and MEM, our approach gives a continuous and unified reconstruction for both positive definite and negative spectral function, which is especially useful for studying the QCD phase transition. Moreover, our approach has considerably better performance in the low frequency region. This has advantages for the extraction of transport coefficients which are related to the zero frequency limit of the spectral function. With the mock data generated through a model spectral function of stress energy tensor, we find our method gives a precise and stable extraction of the transport coefficients.

hep-ph↗

arXiv2021

Statistical Considerations for Cross-Sectional HIV Incidence Estimation Based on Recency Test

Longitudinal cohorts to determine the incidence of HIV infection are logistically challenging, so researchers have sought alternative strategies. Recency test methods use biomarker profiles of HIV-infected subjects in a cross-sectional sample to infer whether they are "recently" infected and to estimate incidence in the population. Two main estimators have been used in practice: one that assumes a recency test is perfectly specific, and another that allows for false-recent results. To date, these commonly used estimators have not been rigorously studied with respect to their assumptions and statistical properties. In this paper, we present a theoretical framework with which to understand these estimators and interrogate their assumptions, and perform a simulation study to assess the performance of these estimators under realistic HIV epidemiological dynamics. We conclude with recommendations for the use of these estimators in practice and a discussion of future methodological developments to improve HIV incidence estimation via recency test.

stat.ME↗

arXiv2021

AS-Net: Fast Photoacoustic Reconstruction with Multi-feature Fusion from Sparse Data

Photoacoustic (PA) imaging is a biomedical imaging modality capable of acquiring high-contrast images of optical absorption at depths much greater than traditional optical imaging techniques. However, practical instrumentation and geometry limit the number of available acoustic sensors surrounding the imaging target, which results in the sparsity of sensor data. Conventional PA image reconstruction methods give severe artifacts when they are applied directly to the sparse PA data. In this paper, we firstly propose to employ a novel signal processing method to make sparse PA raw data more suitable for the neural network, concurrently speeding up image reconstruction. Then we propose Attention Steered Network (AS-Net) for PA reconstruction with multi-feature fusion. AS-Net is validated on different datasets, including simulated photoacoustic data from fundus vasculature phantoms and experimental data from in vivo fish and mice. Notably, the method is also able to eliminate some artifacts present in the ground truth for in vivo data. Results demonstrated that our method provides superior reconstructions at a faster speed.

cs.CV↗

arXiv2021

Compressed Sensing for Photoacoustic Computed Tomography Using an Untrained Neural Network

Photoacoustic (PA) computed tomography (PACT) shows great potentials in various preclinical and clinical applications. A great number of measurements are the premise that obtains a high-quality image, which implies a low imaging rate or a high system cost. The artifacts or sidelobes could pollute the image if we decrease the number of measured channels or limit the detected view. In this paper, a novel compressed sensing method for PACT using an untrained neural network is proposed, which decreases half number of the measured channels and recoveries enough details. This method uses a neural network to reconstruct without the requirement for any additional learning based on the deep image prior. The model can reconstruct the image only using a few detections with gradient descent. Our method can cooperate with other existing regularization, and further improve the quality. In addition, we introduce a shape prior to easily converge the model to the image. We verify the feasibility of untrained network based compressed sensing in PA image reconstruction, and compare this method with a conventional method using total variation minimization. The experimental results show that our proposed method outperforms 32.72% (SSIM) with the traditional compressed sensing method in the same regularization. It could dramatically reduce the requirement for the number of transducers, by sparsely sampling the raw PA data, and improve the quality of PA image significantly.

cs.CV↗

arXiv2021

New insight on the quark condensate beyond chiral limit

With analyzing the mass function obtained by solving Dyson-Schwinger Equations, we propose a cut-off independent definition of quark condensate beyond chiral limit. With this well-defined condensate, we then analyze the evolution of the condensate and its susceptibility with the current quark mass. The susceptibility shows a critical mass in the neighborhood of the s-quark current mass, which defines a transition boundary for internal hadron dynamics.

hep-ph↗

arXiv2021

Photoacoustic-monitored laser treatment for tattoo removal: a feasibility study

Skin blemishes and diseases have attracted increasing research interest in recent decades, due to their growing frequency of occurrence and the severity of related diseases. Various laser treatment approaches have been introduced for the alleviation and removal of skin pigmentation. The treatments' effects highly depend on the experience and prognosis of the relevant operators. But, the operation process lacks real-time feedback, which may directly reflect the extent of the treatment. In this manuscript, we report a photoacoustic-guided laser treatment method with a feasibility study, specifically for laser treatment targeting the tattoo's removal. The results well validated the feasibility of the proposed method through the experiments on phantoms and ex vivo pig skin samples.

eess.SP↗

arXiv2021

A Jointed Feature Fusion Framework for Photoacoustic Reconstruction

Photoacoustic (PA) computed tomography (PACT) reconstructs the initial pressure distribution from raw PA signals. The standard reconstruction of medical image could cause the artifacts due to interferences or ill-posed setup. Recently, deep learning has been used to reconstruct the PA image with ill-posed conditions. Most works remove the artifacts from image domain, and compensate the limited-view from dataset. In this paper, we propose a jointed feature fusion framework (JEFF-Net) based on deep learning to reconstruct the PA image using limited-view data. The cross-domain features from limited-view position-wise data and the reconstructed image are fused by a backtracked supervision. Specifically, our results could generate superior performance, whose artifacts are drastically reduced in the output compared to ground-truth (full-view reconstructed result). In this paper, a quarter position-wise data (32 channels) is fed into model, which outputs another 3-quarters-view data (96 channels). Moreover, two novel losses are designed to restrain the artifacts by sufficiently manipulating superposed data. The numerical and in-vivo results have demonstrated the superior performance of our method to reconstruct the full-view image without artifacts. Finally, quantitative evaluations show that our proposed method outperformed the ground-truth in some metrics.

cs.CV↗