arXiv subjects

Yu Gu

Publications and source records attributed to Yu Gu.

At least 235 records · Page 13Linked to original sources

arXiv2021

Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the localization of the UAV is conducted on the UGV via the multi-sensor fusion of a fish-eye camera, 3D LIDAR, ranging radio, and a laser altimeter. Likewise, the trajectory planning of the UAV is conducted on the UGV, which is assumed to have a 3D map of the environment (e.g., from Simultaneous Localization and Mapping). The goal of the planning algorithm is to satisfy the mission's exploration criteria while reducing the localization error of the UAV by evaluating the belief space for potential exploration routes. The presented algorithm is evaluated in a relevant simulation environment where the planning algorithm is shown to be effective at reducing the localization errors of the UAV.

cs.RO↗

arXiv2021

The random heat equation in dimensions three and higher: the homogenization viewpoint

We consider the stochastic heat equation $\partial_{s}u =\frac{1}{2}Δu +(βV(s,y)-λ)u$, with a smooth space-time stationary Gaussian random field $V(s,y)$, in dimensions $d\geq 3$, with an initial condition $u(0,x)=u_0(\varepsilon x)$ and a suitably chosen $λ\in{\mathbb R}$. It is known that, for $β$ small enough, the diffusively rescaled solution $u^{\varepsilon}(t,x)=u(\varepsilon^{-2}t,\varepsilon^{-1}x)$ converges weakly to a scalar multiple of the solution $\bar u(t,x)$ of the heat equation with an effective diffusivity $a$, and that fluctuations converge, also in a weak sense, to the solution of the Edwards-Wilkinson equation with an effective noise strength $ν$ and the same effective diffusivity. In this paper, we derive a pointwise approximation $w^\varepsilon(t,x)=\bar u(t,x)Ψ^\varepsilon(t,x)+\varepsilon u_1^\varepsilon(t,x)$, where $Ψ^\varepsilon(t,x)=Ψ(t/\varepsilon^2,x/\varepsilon)$, $Ψ$ is a solution of the SHE with constant initial conditions, and $u^\varepsilon_1$ is an explicit corrector. We show that $Ψ(t,x)$ converges to a stationary process $\tilde Ψ(t,x)$ as $t\to\infty$, that $\mathbf{E}|u^\varepsilon(t,x)-w^\varepsilon(t, x)|^2$ converges pointwise to $0$ as $\varepsilon\to 0$, and that $\varepsilon^{-d/2+1}(u^\varepsilon-w^\varepsilon)$ converges weakly to $0$ for fixed $t$. As a consequence, we derive new representations of the diffusivity $a$ and effective noise strength $ν$. Our approach uses a Markov chain in the space of trajectories introduced in Gu, Ryzhik, and Zeitouni, "The Edwards-Wilkinson limit of the random heat equation in dimensions three and higher," as well as tools from homogenization theory. The corrector $u_1^\varepsilon(t,x)$ is constructed using a seemingly new approximation scheme on a mesoscopic time scale.

math.PR↗

arXiv2021

ByteSing: A Chinese Singing Voice Synthesis System Using Duration Allocated Encoder-Decoder Acoustic Models and WaveRNN Vocoders

This paper presents ByteSing, a Chinese singing voice synthesis (SVS) system based on duration allocated Tacotron-like acoustic models and WaveRNN neural vocoders. Different from the conventional SVS models, the proposed ByteSing employs Tacotron-like encoder-decoder structures as the acoustic models, in which the CBHG models and recurrent neural networks (RNNs) are explored as encoders and decoders respectively. Meanwhile an auxiliary phoneme duration prediction model is utilized to expand the input sequence, which can enhance the model controllable capacity, model stability and tempo prediction accuracy. WaveRNN neural vocoders are also adopted as neural vocoders to further improve the voice quality of synthesized songs. Both objective and subjective experimental results prove that the SVS method proposed in this paper can produce quite natural, expressive and high-fidelity songs by improving the pitch and spectrogram prediction accuracy and the models using attention mechanism can achieve best performance.

eess.AS↗

arXiv2021

INSQ: An Influential Neighbor Set Based Moving kNN Query Processing System

We revisit the moving k nearest neighbor (MkNN) query, which computes one's k nearest neighbor set and maintains it while at move. Existing MkNN algorithms are mostly safe region based, which lack efficiency due to either computing small safe regions with a high recomputation frequency or computing larger safe regions but with a high cost for each computation. In this demonstration, we showcase a system named INSQ that adopts a novel algorithm called the Influential Neighbor Set (INS) algorithm to process the MkNN query in both two-dimensional Euclidean space and road networks. This algorithm uses a small set of safe guarding objects instead of safe regions. As long as the the current k nearest neighbors are closer to the query object than the safe guarding objects are, the current k nearest neighbors stay valid and no recomputation is required. Meanwhile, the region defined by the safe guarding objects is the largest possible safe region. This means that the recomputation frequency is also minimized and hence, the INS algorithm achieves high overall query processing efficiency.

cs.DB↗

arXiv2020

WiFE: WiFi and Vision based Intelligent Facial-Gesture Emotion Recognition

Emotion is an essential part of Artificial Intelligence (AI) and human mental health. Current emotion recognition research mainly focuses on single modality (e.g., facial expression), while human emotion expressions are multi-modal in nature. In this paper, we propose a hybrid emotion recognition system leveraging two emotion-rich and tightly-coupled modalities, i.e., facial expression and body gesture. However, unbiased and fine-grained facial expression and gesture recognition remain a major problem. To this end, unlike our rivals relying on contact or even invasive sensors, we explore the commodity WiFi signal for device-free and contactless gesture recognition, while adopting a vision-based facial expression. However, there exist two design challenges, i.e., how to improve the sensitivity of WiFi signals and how to process the large-volume, heterogeneous, and non-synchronous data contributed by the two-modalities. For the former, we propose a signal sensitivity enhancement method based on the Rician K factor theory; for the latter, we combine CNN and RNN to mine the high-level features of bi-modal data, and perform a score-level fusion for fine-grained recognition. To evaluate the proposed method, we build a first-of-its-kind Vision-CSI Emotion Database (VCED) and conduct extensive experiments. Empirical results show the superiority of the bi-modality by achieving 83.24\% recognition accuracy for seven emotions, as compared with 66.48% and 66.67% recognition accuracy by gesture-only based solution and facial-only based solution, respectively. The VCED database download link is https://github.com/purpleleaves007/WIFE-Dataset.

cs.HC↗

arXiv2020

Multi-Classifier Interactive Learning for Ambiguous Speech Emotion Recognition

In recent years, speech emotion recognition technology is of great significance in industrial applications such as call centers, social robots and health care. The combination of speech recognition and speech emotion recognition can improve the feedback efficiency and the quality of service. Thus, the speech emotion recognition has been attracted much attention in both industry and academic. Since emotions existing in an entire utterance may have varied probabilities, speech emotion is likely to be ambiguous, which poses great challenges to recognition tasks. However, previous studies commonly assigned a single-label or multi-label to each utterance in certain. Therefore, their algorithms result in low accuracies because of the inappropriate representation. Inspired by the optimally interacting theory, we address the ambiguous speech emotions by proposing a novel multi-classifier interactive learning (MCIL) method. In MCIL, multiple different classifiers first mimic several individuals, who have inconsistent cognitions of ambiguous emotions, and construct new ambiguous labels (the emotion probability distribution). Then, they are retrained with the new labels to interact with their cognitions. This procedure enables each classifier to learn better representations of ambiguous data from others, and further improves the recognition ability. The experiments on three benchmark corpora (MAS, IEMOCAP, and FAU-AIBO) demonstrate that MCIL does not only improve each classifier's performance, but also raises their recognition consistency from moderate to substantial.

cs.AI↗

arXiv2020

Moments of the 2D SHE at criticality

We study the stochastic heat equation in two spatial dimensions with a multiplicative white noise, as the limit of the equation driven by a noise that is mollified in space and white in time. As the mollification radius $ \varepsilon\to 0 $, we tune the coupling constant near the critical point, and show that the single time correlation functions converge to a limit written in terms of an explicit non-trivial semigroup. Our approach consists of two steps. First we show the convergence of the resolvent of the (tuned) two-dimensional delta Bose gas, by adapting the framework of Dimock and Rajeev (2004) to our setup of spatial mollification. Then we match this to the Laplace transform of our semigroup.

math.PR↗

arXiv2020

Gaussian fluctuations from random Schrödinger equation

We study the Schrödinger equation driven by a weak Brownian forcing, and derive Gaussian fluctuations in the form of a time-inhomogeneous Ornstein-Uhlenbeck process. As a result, when evaluated at a fixed frequency, the intensity of the incoherent wave is of exponential distribution.

math.PR↗

arXiv2020

Large magnetoresistance observed in α-Sn/InSb heterostructures

In this study, we report the epitaxial growth of a series of α-Sn films on InSb substrate by molecular beam epitaxy (MBE) with thickness varying from 10 nm to 400 nm. High qualities of the α-Sn films are confirmed. An enhanced large magnetoresistance (MR) over 450,000% has been observed compared to that of the bare InSb substrate. Thickness, angle and temperature dependent MR are used to demonstrate the effects of α-Sn films on the electrical transport properties.

cond-mat.mtrl-sci↗

arXiv2020

Fluctuations of a nonlinear stochastic heat equation in dimensions three and higher

We study the solution to a nonlinear stochastic heat equation in $d\geq 3$. The equation is driven by a Gaussian multiplicative noise that is white in time and smooth in space. For a small coupling constant, we prove (i) the solution converges to the stationary distribution in large time; (ii) the diffusive scale fluctuations are described by the Edwards-Wilkinson equation.

math.PR↗

arXiv2020

Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperative ranging localization, formulated as an Extended Kalman Filter (EKF), estimates each UAV's relative pose inside the group using inter-vehicle ranging measurements; second, an algorithm named cooperative magnetic localization, formulated as a particle filter, estimates each UAV's global pose through matching the group's magnetic anomaly measurements to a given magnetic anomaly map. In this study, each UAV is assumed to only perform a ranging measurement and data exchange with one other UAV at any point in time. A simulator is developed to evaluate the algorithms with magnetic anomaly maps acquired from airborne geophysical survey. The simulation results show that the average estimated position error of a group of 16 UAVs is approximately 20 meters after flying about 180 kilometers in 1 hour. Sensitivity analysis shows that the algorithms can tolerate large variations of velocity, yaw rate, and magnetic anomaly measurement noises. Additionally, the UAV group shows improved position estimation robustness with both high and low resolution maps as more UAVs are added into the group.

eess.SY↗

arXiv2020

BrePartition: Optimized High-Dimensional kNN Search with Bregman Distances

Bregman distances (also known as Bregman divergences) are widely used in machine learning, speech recognition and signal processing, and kNN searches with Bregman distances have become increasingly important with the rapid advances of multimedia applications. Data in multimedia applications such as images and videos are commonly transformed into space of hundreds of dimensions. Such high-dimensional space has posed significant challenges for existing kNN search algorithms with Bregman distances, which could only handle data of medium dimensionality (typically less than 100). This paper addresses the urgent problem of high-dimensional kNN search with Bregman distances. We propose a novel partition-filter-refinement framework. Specifically, we propose an optimized dimensionality partitioning scheme to solve several non-trivial issues. First, an effective bound from each partitioned subspace to obtain exact kNN results is derived. Second, we conduct an in-depth analysis of the optimized number of partitions and devise an effective strategy for partitioning. Third, we design an efficient integrated index structure for all the subspaces together to accelerate the search processing. Moreover, we extend our exact solution to an approximate version by a trade-off between the accuracy and efficiency. Experimental results on four real-world datasets and two synthetic datasets show the clear advantage of our method in comparison to state-of-the-art algorithms.

cs.DB↗

arXiv2020

BeSense: Leveraging WiFi Channel Data and Computational Intelligence for Behavior Analysis

The ever evolving informatics technology has gradually bounded human and computer in a compact way. Understanding user behavior becomes a key enabler in many fields such as sedentary-related healthcare, human-computer interaction (HCI) and affective computing. Traditional sensor-based and vision-based user behavior analysis approaches are obtrusive in general, hindering their usage in realworld. Therefore, in this article, we first introduce WiFi signal as a new source instead of sensor and vision for unobtrusive user behaviors analysis. Then we design BeSense, a contactless behavior analysis system leveraging signal processing and computational intelligence over WiFi channel state information (CSI). We prototype BeSense on commodity low-cost WiFi devices and evaluate its performance in realworld environments. Experimental results have verified its effectiveness in recognizing user behaviors.

cs.HC↗

arXiv2019

Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions inherently exhibit cubic error growth. Furthermore, for planetary rovers that are traversing diverse types of terrain, wheel odometry is often unreliable for use in localization, due to wheel slippage. For current Mars rovers, computer vision-based approaches are generally used whenever there is a high possibility of positioning error; however, these strategies require additional computational power, energy resources, and significantly slow down the rover traverse speed. To this end, we propose a navigation approach that compensates for the high likelihood of odometry errors by providing a reliable navigation solution that leverages non-holonomic vehicle constraints as well as state-aware pseudo-measurements (e.g., zero velocity and zero angular rate) updates during periodic stops. By using this, computationally expensive visual-based corrections could be performed less often. Experimental tests that compare against GPS-based localization are used to demonstrate the accuracy of the proposed approach. The source code, post-processing scripts, and example datasets associated with the paper are published in a public repository.

cs.RO↗

arXiv2019

EmoSense: Computational Intelligence Driven Emotion Sensing via Wireless Channel Data

Emotion is well-recognized as a distinguished symbol of human beings, and it plays a crucial role in our daily lives. Existing vision-based or sensor-based solutions are either obstructive to use or rely on specialized hardware, hindering their applicability. This paper introduces EmoSense, a first-of-its-kind wireless emotion sensing system driven by computational intelligence. The basic methodology is to explore the physical expression of emotions from wireless channel response via data mining. The design and implementation of EmoSense {face} two major challenges: extracting physical expression from wireless channel data and recovering emotion from the corresponding physical expression. For the former, we present a Fresnel zone based theoretical model depicting the fingerprint of the physical expression on channel response. For the latter, we design an efficient computational intelligence driven mechanism to recognize emotion from the corresponding fingerprints. We prototyped EmoSense on the commodity WiFi infrastructure and compared it with main-stream sensor-based and vision-based approaches in the real-world scenario. The numerical study over $3360$ cases confirms that EmoSense achieves a comparable performance to the vision-based and sensor-based rivals under different scenarios. EmoSense only leverages the low-cost and prevalent WiFi infrastructures and thus constitutes a tempting solution for emotion sensing.

cs.HC↗

arXiv2019

WiFi-based Real-time Breathing and Heart Rate Monitoring during Sleep

Good quality sleep is essential for good health and sleep monitoring becomes a vital research topic. This paper provides a low cost, continuous and contactless WiFi-based vital signs (breathing and heart rate) monitoring method. In particular, we set up the antennas based on Fresnel diffraction model and signal propagation theory, which enhances the detection of weak breathing/heartbeat motion. We implement a prototype system using the off-shelf devices and a real-time processing system to monitor vital signs in real time. The experimental results indicate the accurate breathing rate and heart rate detection performance. To the best of our knowledge, this is the first work to use a pair of WiFi devices and omnidirectional antennas to achieve real-time individual breathing rate and heart rate monitoring in different sleeping postures.

cs.HC↗

arXiv2019

SleepGuardian: An RF-based Healthcare System Guarding Your Sleep from Afar

The ever accelerating process of urbanization urges more and more population into the swelling cities. While city residents are enjoying an entertaining life supported by advanced informatics techniques like 5G and cloud computing, the same technologies have also gradually deprived their sleep, which is crucial for their wellness. Therefore, sleep monitoring has drawn significant attention from both research and industry communities. In this article, we first review the sleep monitoring issue and point out three essential properties of an ideal sleep healthcare system, i.e., realtime guarding, fine-grained logging, and cost-effectiveness. Based on the analysis, we present SleepGuardian, a Radio Frequence (RF) based sleep healthcare system leveraging signal processing, edge computing and machine learning.SleepGuardian offers an offline sleep logging service and an online abnormality warning service. The offline service provides a fine-grained sleep log like timing and regularity of bed time, onset of sleep and night time awakenings. The online service keeps guarding the subject for any abnormal behaviors during sleep like intensive body twitches and a sudden seizure attack. Once an abnormality happens,it will automatically warn the designated contacts like a nearby emergency room or a closeby relative.We prototype SleepGuardian with low-cost WiFi devices and evaluate it in real scenarios. Experimental results demonstrate that SleepGuardian is very effective.

eess.SP↗

arXiv2019

Fluctuations of the solutions to the KPZ equation in dimensions three and higher

We prove, using probabilistic techniques and analysis on the Wiener space, that the large scale fluctuations of the KPZ equation in $d\geq 3$ with a small coupling constant, driven by a white in time and colored in space noise, are given by the Edwards-Wilkinson model. This gives an alternative proof, that avoids perturbation expansions, to the results of Magnen and Unterberger \cite{magnen2017diffusive}.

math.PR↗