arXiv subjects

Bo Yu

Publications and source records attributed to Bo Yu.

107 records · Page 6Linked to original sources

arXiv2017

FPGA-based ORB Feature Extraction for Real-Time Visual SLAM

Simultaneous Localization And Mapping (SLAM) is the problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. How to enable SLAM robustly and durably on mobile, or even IoT grade devices, is the main challenge faced by the industry today. The main problems we need to address are: 1.) how to accelerate the SLAM pipeline to meet real-time requirements; and 2.) how to reduce SLAM energy consumption to extend battery life. After delving into the problem, we found out that feature extraction is indeed the bottleneck of performance and energy consumption. Hence, in this paper, we design, implement, and evaluate a hardware ORB feature extractor and prove that our design is a great balance between performance and energy consumption compared with ARM Krait and Intel Core i5.

cs.RO↗

arXiv2017

Error Estimates for Sparse Optimal Control Problems by Piecewise Linear Finite Element Approximation

Optimization problems with $L^1$-control cost functional subject to an elliptic partial differential equation (PDE) are considered. However, different from the finite dimensional $l^1$-regularization optimization, the resulting discretized $L^1$-norm does not have a decoupled form when the standard piecewise linear finite element is employed to discretize the continuous problem. A common approach to overcome this difficulty is employing a nodal quadrature formula to approximately discretize the $L^1$-norm. It is inevitable that this technique will incur an additional error. Different from the traditional approach, a duality-based approach and an accelerated block coordinate descent (ABCD) method is introduced to solve this type of problem via its dual. Based on the discretized dual problem, a new discretized scheme for the $L^1$-norm is presented. Compared new discretized scheme for $L^1$-norm with the nodal quadrature formula, the advantages of our new discretized scheme can be demonstrated in terms of the approximation order. More importantly, finite element error estimates results for the primal problem with the new discretized scheme for the $L^1$-norm are provided, which confirm that this approximation scheme will not change the order of error estimates.

math.OC↗

arXiv2017

A FE-inexact heterogeneous ADMM for Elliptic Optimal Control Problems with {$L^1$}-Control Cost

Elliptic PDE-constrained optimal control problems with $L^1$-control cost ($L^1$-EOCP) are considered. To solve $L^1$-EOCP, the primal-dual active set (PDAS) method, which is a special semismooth Newton (SSN) method, used to be a priority. However, in general solving Newton equations is expensive. Motivated by the success of alternating direction method of multipliers (ADMM), we consider extending the ADMM to $L^1$-EOCP. To discretize $L^1$-EOCP, the piecewise linear finite element (FE) is considered. However, different from the finite dimensional $l^1$-norm, the discretized $L^1$-norm does not have a decoupled form. To overcome this difficulty, an effective approach is utilizing nodal quadrature formulas to approximately discretize the $L^1$-norm and $L^2$-norm. It is proved that these approximation steps will not change the order of error estimates. To solve the discretized problem, an inexact heterogeneous ADMM (ihADMM) is proposed. Different from the classical ADMM, the ihADMM adopts two different weighted inner product to define the augmented Lagrangian function in two subproblems, respectively. Benefiting from such different weighted techniques, two subproblems of ihADMM can be efficiently implemented. Furthermore, theoretical results on the global convergence as well as the iteration complexity results $o(1/k)$ for ihADMM are given. In order to obtain more accurate solution, a two-phase strategy is also presented, in which the primal-dual active set (PDAS) method is used as a postprocessor of the ihADMM. Numerical results not only confirm error estimates, but also show that the ihADMM and the two-phase strategy are highly efficient.

math.OC↗

arXiv2017

An efficient duality-based approach for PDE-constrained sparse optimization

In this paper, elliptic optimal control problems involving the $L^1$-control cost ($L^1$-EOCP) is considered. To numerically discretize $L^1$-EOCP, the standard piecewise linear finite element is employed. However, different from the finite dimensional $l^1$-regularization optimization, the resulting discrete $L^1$-norm does not have a decoupled form. A common approach to overcome this difficulty is employing a nodal quadrature formula to approximately discretize the $L^1$-norm. It is clear that this technique will incur an additional error. To avoid the additional error, solving $L^1$-EOCP via its dual, which can be reformulated as a multi-block unconstrained convex composite minimization problem, is considered. Motivated by the success of the accelerated block coordinate descent (ABCD) method for solving large scale convex minimization problems in finite dimensional space, we consider extending this method to $L^1$-EOCP. Hence, an efficient inexact ABCD method is introduced for solving $L^1$-EOCP. The design of this method combines an inexact 2-block majorized ABCD and the recent advances in the inexact symmetric Gauss-Seidel (sGS) technique for solving a multi-block convex composite quadratic programming whose objective contains a nonsmooth term involving only the first block. The proposed algorithm (called sGS-imABCD) is illustrated at two numerical examples. Numerical results not only confirm the finite element error estimates, but also show that our proposed algorithm is more efficient than (a) the ihADMM (inexact heterogeneous alternating direction method of multipliers), (b) the APG (accelerated proximal gradient) method.

math.OC↗

arXiv2017

A FE-ADMM algorithm for Lavrentiev-regularized state-constrained elliptic control problem

In this paper, elliptic control problems with pointwise box constraints on the state is considered, where the corresponding Lagrange multipliers in general only represent regular Borel measure functions. To tackle this difficulty, the Lavrentiev regularization is employed to deal with the state constraints. To numerically discretize the resulted problem, since the weakness of variational discretization in numerical implementation, full piecewise linear finite element discretization is employed. Estimation of the error produced by regularization and discretization is done. The error order of full discretization is not inferior to that of variational discretization because of the Lavrentiev-regularization. Taking the discretization error into account, algorithms of high precision do not make much sense. Utilizing efficient first-order algorithms to solve discretized problems to moderate accuracy is sufficient. Then a heterogeneous alternating direction method of multipliers (hADMM) is proposed. Different from the classical ADMM, our hADMM adopts two different weighted norms in two subproblems respectively. Additionally, to get more accurate solution, a two-phase strategy is presented, in which the primal-dual active set (PDAS) method is used as a postprocessor of the hADMM. Numerical results not only verify error estimates but also show the efficiency of the hADMM and the two-phase strategy.

math.OC↗

arXiv2017

Enhanced transmission capacity for laser communication at the single-photon level using the multi-channel frequency coding scheme

The statistical properties of a radiation sources are commonly characterized by second-order-correlation or Mandel parameter. Our research found that the single photons modulation spectrum provides us another optional way which is more sensitive to the high frequency information contained in the photon sequence. In this paper, we present direct laser communication by using a multi-channel frequency coding scheme based on the single photons modulation spectrum in which the multi-frequency modulation makes the transmission capacity efficiently enhanced. The modulation frequencies could be operated in a wide band without frequency aliasing due to the inherent randomness of photons arrival time of weak coherent light. The error rate less than 10-5 has been achieved experimentally when the mean signal photon count is 80 kcps. The modulated coherent light field shows nonlinear effects of single photons modulation spectrum. The studies of statistical properties of the single photons modulation spectrum, including the dependence of mean noise photon count, integration time, channel spacing and the number of frequency component, helped us to optimize the error rate and transmission capacity.

quant-ph↗

arXiv2016

A two-phase strategy for control constrained elliptic optimal control problems

Elliptic optimal control problems with pointwise box constraints on the control (EOCP) are considered. To solve EOCP, the primal-dual active set (PDAS) method, which is a special semismooth Newton (SSN) method, used to be a priority in consideration of their locally superlinear convergence. However, in general solving the Newton equations is expensive, especially when the discretization is in a fine level. Motivated by the success of applying alternating direction method of multipliers (ADMM) for solving large scale convex minimization problem in finite dimension, it is reasonable to extend the ADMM to solve EOCP. To numerically solve EOCP, the finite element (FE) method is used for discretization. Then, a two-phase strategy is presented to solve discretized problems. In Phase-I, an inexact heterogeneous ADMM (ihADMM) is proposed with the aim of solving discretized problems to moderate accuracy or using it to generate a reasonably good initial point to warm-start Phase-II. Different from the classical ADMM, our ihADMM adopts two different weighted inner product to define the augmented Lagrangian function in two subproblems, respectively. Benefiting from such different weighted techniques, two subproblems of ihADMM can be efficiently implemented. Furthermore, theoretical results on the global convergence as well as the iteration complexity results $o(1/k)$ for ihADMM are given. In Phase-II, in order to obtain more accurate solution, the primal-dual active set (PDAS) method is used as a postprocessor of the ihADMM. Numerical results show that the ihADMM and the two-phase strategy are highly efficient.

math.OC↗

arXiv2016

Loop W(a,b) Lie conformal algebra

Fix $a,b\in\C$, let $LW(a,b)$ be the loop $W(a,b)$ Lie algebra over $\C$ with basis $\{L_{\a,i},I_{\b,j} \mid \a,\b,i,j\in\Z\}$ and relations $[L_{\a,i},L_{\b,j}]=(\a-\b)L_{\a+\b,i+j}, [L_{\a,i},I_{\b,j}]=-(a+b\a+\b)I_{\a+\b,i+j},[I_{\a,i},I_{\b,j}]=0$, where $\a,\b,i,j\in\Z$. In this paper, a formal distribution Lie algebra of $LW(a,b)$ is constructed. Then the associated conformal algebra $CLW(a,b)$ is studied, where $CLW(a,b)$ has a $\C[\partial]$-basis $\{L_i,I_j\,|\,i,j\in\Z\}$ with $λ$-brackets $[L_i\, {}_λ\, L_j]=(\partial+2λ) L_{i+j}, [L_i\, {}_λ\, I_j]=(\partial+(1-b)λ) I_{i+j}$ and $[I_i\, {}_λ\, I_j]=0$. In particular, we determine the conformal derivations and rank one conformal modules of this conformal algebra. Finally, we study the central extensions and extensions of conformal modules.

math.RA↗

arXiv2015

Experimental quantum secure direct communication with single photons

Quantum communication holds promise for absolutely security in secret message transmission. Quantum secure direct communication is an important mode of the quantum communication in which secret messages are securely communicated over a quantum channel directly. It has become one of the hot research areas in the last decade, and offers both high security and instantaneousness in communication. It is also a basic cryptographic primitive for constructing other quantum communication tasks such as quantum authentication, quantum dialogue and so on. Here we report the first experimental demonstration of quantum secure direct communication with single photons. The experiment is based on the DL04 protocol, equipped with a simple frequency coding. It has the advantage of being robust against channel noise and loss. The experiment demonstrated explicitly the block data transmission technique, which is essential for quantum secure direct communication. In the experiment, a block transmission of 80 single photons was demonstrated over fiber, and it provides effectively 16 different values, which is equivalent to 4 bits of direct transmission in one block. The experiment has firmly demonstrated the feasibility of quantum secure direct communication in the presence of noise and loss.

quant-ph↗

arXiv2013

New Constraints on Anisotropic Rotation of CMB Polarization

The coupling of a scalar field to electromagnetic field via the Chern-Simons term will rotate the polarization directions of the cosmic microwave background radiation. The rotation angle which relies on the distribution of the scalar field on the CMB sky is direction dependent. Such anisotropies will give rise to new distortions to the power spectra of CMB polarization and it can be used to probe the detailed physics of the scalar field. In this paper we use the updated observational data to constrain the anisotropic rotation angle in a model independent way. We find that the dominant effect of the anisotropic rotation on CMB comes from its variance and it is constrained tightly by the current data.

astro-ph.CO↗

arXiv2010

Standardization, Distance, Host Galaxy Extinction of Type Ia Supernova and Hubble Diagram from the Flux Ratio Method

In this paper we generalize the flux ratio method Bailey et al. (2009) to the case of two luminosity indicators and search the optimal luminosity-flux ratio relations on a set of spectra whose phases are around not only the date of bright light but also other time. With these relations, a new method is proposed to constrain the host galaxy extinction of SN Ia and its distance. It is first applied to the low redshift supernovas and then to the high redshift ones. The results of the low redshift supernovas indicate that the flux ratio method can indeed give well constraint on the host galaxy extinction parameter E(B-V), but weaker constraints on R_{V}. The high redshift supernova spectra are processed by the same method as the low redshift ones besides some differences due to their high redshift. Among 16 high redshift supernovas, 15 are fitted very well except 03D1gt. Based on these distances, Hubble diagram is drew and the contents of the Universe are analyzed. It supports an acceleration behavior in the late Universe. Therefore, the flux ratio method can give constraints on the host galaxy extinction and supernova distance independently. We believe, through further studies, it may provide a precise tool to probe the acceleration of the Universe than before.

astro-ph.CO↗

arXiv2009

Gamma-ray Burst Luminosity Relations: Two-dimensional versus Three-dimensional Correlations

The large scatters of luminosity relations of gamma-ray bursts (GRBs) have been one of the most important reasons that prevent the extensive applications of GRBs in cosmology. In this paper, we extend the two-dimensional (2D) luminosity relations with $τ_{\mathrm{lag}}$, $V$, $E_{\mathrm{peak}}$, and $τ_{\mathrm{RT}}$ as the luminosity indicators to three dimensions (3D) using the same set of luminosity indicators to explore the possibility of decreasing the intrinsic scatters. We find that, for the 3D luminosity relations between the luminosity and an energy scale ($E_{\mathrm{peak}}$) and a time scale ($τ_{\mathrm{lag}}$ or $τ_{\mathrm{RT}}$), their intrinsic scatters are considerably smaller than those of corresponding 2D luminosity relations. Enlightened by the result and the definition of the luminosity (energy released in units of time), we discussed possible reasons behind, which may give us helpful suggestions on seeking more precise luminosity relations for GRBs in the future.

astro-ph.CO↗

arXiv2005

Remote Preparation of Mixed States via Noisy Entanglement

We present a practical and general scheme of remote preparation for pure and mixed state, in which an auxiliary qubit and controlled-NOT gate are used. We discuss the remote state preparation (RSP) in two important types of decoherent channel (depolarizing and dephaseing). In our experiment, we realize RSP in the dephaseing channel by using spontaneous parametric down conversion (SPDC), linear optical elements and single photon detector.

quant-ph↗

arXiv2004

Scalable fault-tolerant quantum computation in DFS blocks

We investigate how to concatenate different decoherence-free subspaces (DFSs) to realize scalable universal fault-tolerant quantum computation. Based on tunable $XXZ$ interactions, we present an architecture for scalable quantum computers which can fault-tolerantly perform universal quantum computation by manipulating only single type of parameter. By using the concept of interaction-free subspaces we eliminate the need to tune the couplings between logical qubits, which further reduces the technical difficulties for implementing quantum computation.

quant-ph↗

arXiv2004

Concatenating dynamical decoupling with decoherence-free subspaces for quantum computation

A scheme to implement a quantum computer subjected to decoherence and governed by an untunable qubit-qubit interaction is presented. By concatenating dynamical decoupling through bang-bang (BB) pulse with decoherence-free subspaces (DFSs) encoding, we protect the quantum computer from environment-induced decoherence that results in quantum information dissipating into the environment. For the inherent qubit-qubit interaction that is untunable in the quantum system, BB control plus DFSs encoding will eliminate its undesired effect which spoils quantum information in qubits. We show how this quantum system can be used to implement universal quantum computation.

quant-ph↗

arXiv2003

Robust high-fidelity teleportation of an atomic state through the detection of cavity decay

We propose a scheme for quantum teleportation of an atomic state based on the detection of cavity decay. The internal state of an atom trapped in a cavity can be disembodiedly transferred to another atom trapped in a distant cavity by measuring interference of polarized photons through single-photon detectors. In comparison with the original proposal by S. Bose, P.L. Knight, M.B. Plenio, and V. Vedral [Phys. Rev. Lett. 83, 5158 (1999)], our protocol of teleportation has a high fidelity of almost unity, and inherent robustness, such as the insensitivity of fidelity to randomness in the atom's position, and to detection inefficiency. All these favorable features make the scheme feasible with the current experimental technology.

quant-ph↗

arXiv2003

Orbital angular momentum of the down converted photons

We calculate the relative amplitude of orbital angular momentum (OAM) entangled photon pairs from the spontaneous parametric down conversion. The results show that the amplitude depends on both the two Laguerre indices l, p. We also discuss the influences of the mostly used holograms and mono-mode fibers for mode analyzation. We conclude that only a few dimensions can be explored from the infinite OAM modes of the down-converted photon pairs.

quant-ph↗