arXiv subjects

Jiawei Meng

Publications and source records attributed to Jiawei Meng.

9 recordsLinked to original sources

arXiv2024

Dynamic Obstacle Avoidance of Unmanned Surface Vehicles in Maritime Environments Using Gaussian Processes Based Motion Planning

During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications, unmanned surface vehicles executing relevant missions that might collide with potential static obstacles such as islands and reefs and dynamic obstacles such as other moving unmanned surface vehicles. To successfully accomplish these missions, motion planning algorithms that can generate smooth and collision-free trajectories to avoid both these static and dynamic obstacles in an efficient manner are essential. In this article, we propose a novel motion planning algorithm named the Dynamic Gaussian process motion planner 2, which successfully extends the application scope of the Gaussian process motion planner 2 into complex and dynamic environments with both static and dynamic obstacles. First, we introduce an approach to generate safe areas for dynamic obstacles using modified multivariate Gaussian distributions. Second, we introduce an approach to integrate real-time status information of dynamic obstacles into the modified multivariate Gaussian distributions. The multivariate Gaussian distributions with real-time statuses of dynamic obstacles can be innovatively added into the optimisation process of factor graph to generate an optimised trajectory. We also develop a variant of the proposed algorithm that integrates the international regulations for preventing collisions at sea, enhancing its operational effectiveness in maritime environments. The proposed algorithms have been validated in a series of benchmark simulations and a dynamic obstacle avoidance mission in a high-fidelity maritime environment in the Robotic operating system to demonstrate the functionality and practicability.

cs.RO↗

arXiv2024

RRT-GPMP2: A Motion Planner for Mobile Robots in Complex Maze Environments

With the development of science and technology, mobile robots are playing a significant important role in the new round of world revolution. Further, mobile robots might assist or replace human beings in a great number of areas. To increase the degree of automation for mobile robots, advanced motion planners need to be integrated into them to cope with various environments. Complex maze environments are common in the potential application scenarios of different mobile robots. This article proposes a novel motion planner named the rapidly exploring random tree based Gaussian process motion planner 2, which aims to tackle the motion planning problem for mobile robots in complex maze environments. To be more specific, the proposed motion planner successfully combines the advantages of a trajectory optimisation motion planning algorithm named the Gaussian process motion planner 2 and a sampling-based motion planning algorithm named the rapidly exploring random tree. To validate the performance and practicability of the proposed motion planner, we have tested it in several simulations in the Matrix laboratory and applied it on a marine mobile robot in a virtual scenario in the Robotic operating system.

cs.RO↗

arXiv2024

Reliable Academic Conference Question Answering: A Study Based on Large Language Model

As the development of academic conferences fosters global scholarly communication, researchers consistently need to obtain accurate and up-to-date information about academic conferences. Since the information is scattered, using an intelligent question-answering system to efficiently handle researchers' queries and ensure awareness of the latest advancements is necessary. Recently, Large Language Models (LLMs) have demonstrated impressive capabilities in question answering, and have been enhanced by retrieving external knowledge to deal with outdated knowledge. However, these methods fail to work due to the lack of the latest conference knowledge. To address this challenge, we develop the ConferenceQA dataset, consisting of seven diverse academic conferences. Specifically, for each conference, we first organize academic conference data in a tree-structured format through a semi-automated method. Then we annotate question-answer pairs and classify the pairs into four different types to better distinguish their difficulty. With the constructed dataset, we further propose a novel method STAR (STructure-Aware Retrieval) to improve the question-answering abilities of LLMs, leveraging inherent structural information during the retrieval process. Experimental results on the ConferenceQA dataset show the effectiveness of our retrieval method. The dataset and code are available at https://github.com/zjukg/ConferenceQA.

cs.CL↗

arXiv2022

Reconfigurable Application-Specific Photonic Integrated Circuit for solving Partial Differential Equations

Solving mathematical equations faster and more efficiently has been a Holy Grail for centuries for scientists and engineers across all disciplines. While electronic digital circuits have revolutionized equation solving in recent decades, it has become apparent that performance gains from brute-force approaches of compute-solvers are quickly saturating over time. Instead, paradigms that leverage the universes natural tendency to minimize a systems free energy, such as annealers or Ising Machines, are being sought after due to favorable complexity scaling. Here we introduce a programmable analog solver leveraging the mathematical formal equivalence between Maxwells equations and photonic circuitry. It features a mesh network of nanophotonic beams to find solutions to partial differential equations. As an example, we designed, fabricated, and demonstrated a novel application-specific photonic integrated circuit comprised of electro-optically reconfigurable nodes, and experimentally validated 90% accuracy with respect to a commercial solver. Finally, we tested this photonic integrated chip performance by simulating thermal diffusion on a spacecrafts heat shield during re-entry to a planets atmosphere. The programmable light-circuitry presented herein offers a facile route for solving complex problems and thus will have profound potential applications across many scientific and engineering fields.

physics.optics↗

arXiv2022

Electrical Programmable Multi-Level Non-volatile Photonic Random-Access Memory

Photonic Random-Access Memories (P-RAM) are an essential component for the on-chip non-von Neumann photonic computing by eliminating optoelectronic conversion losses in data links. Emerging Phase Change Materials (PCMs) have been showed multilevel memory capability, but demonstrations still yield relatively high optical loss and require cumbersome WRITE-ERASE approaches increasing power consumption and system package challenges. Here we demonstrate a multi-state electrically-programmed low-loss non-volatile photonic memory based on a broadband transparent phase change material (Ge2Sb2Se5, GSSe) with ultra-low absorption in the amorphous state. A zero-static-power and electrically-programmed multi-bit P-RAM is demonstrated on a silicon-on-insulator platform, featuring efficient amplitude modulation up to 0.2 dB/μm and an ultra-low insertion loss of total 0.12 dB for a 4-bit memory showing a 100x improved signal to loss ratio compared to other phase-change-materials based photonic memories. We further optimize the positioning of dual micro-heaters validating performance tradeoffs. Experimentally we demonstrate a half-a million cyclability test showcasing the robust approach of this material and device. Low-loss photonic retention-of-state adds a key feature for photonic functional and programmable circuits impacting many applications including neural networks, LiDAR, and sensors for example.

physics.optics↗

arXiv2022

A Fully-autonomous Framework of Unmanned Surface Vehicles in Maritime Environments using Gaussian Process Motion Planning

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and deployment of USVs is the increased operational flexibility that is offered through use of autonomous navigation systems that generate optimised trajectories. Unlike path planning in terrestrial environments, planning in the maritime environment is more demanding as there is need to assure mitigating action is taken against the significant, random and often unpredictable environmental influences from winds and ocean currents. With the focus of these necessary requirements as the main basis of motivation, this paper proposes a novel motion planner, denoted as GPMP2*, extending the application scope of the fundamental GP-based motion planner, GPMP2, into complex maritime environments. An interpolation strategy based on Monte-Carlo stochasticity has been innovatively added to GPMP2* to produce a new algorithm named GPMP2* with Monte-Carlo stochasticity (MC-GPMP2*), which can increase the diversity of the paths generated. In parallel with algorithm design, a ROS based fully-autonomous framework for an advanced unmanned surface vehicle, the WAM-V 20 USV, has been proposed. The practicability of the proposed motion planner as well as the fully-autonomous framework have been functionally validated in a simulated inspection missions for an offshore wind farm in ROS.

cs.RO↗

arXiv2019

Artificial Synapse with Mnemonic Functionality using GSST-based Photonic Integrated Memory

Machine-learning tasks performed by neural networks demonstrated useful capabilities for producing reliable, and repeatable intelligent decisions. Integrated photonics, leveraging both component miniaturization and the wave-nature of the signals, can potentially outperform electronics architectures when performing inference tasks. However, the missing photon-photon force challenges non-volatile photonic device-functionality required for efficient neural networks. Here we present a novel concept and optimization of multi-level discrete-state non-volatile photonic memory based on an ultra-compact (<4um) hybrid phase change material GSST-silicon Mach Zehnder modulator, with low insertion losses (3dB), to serve as node in a photonic neural network. An optimized electro-thermal switching mechanism, induced by Joule heating through tungsten contacts, is engineered. This operation allows to change the phase of the GSST film thus providing weight updating functionality to the network. We show that a 5 V pulse-train (<1 us, 20 pulses) applied to a serpentine contact produces crystallization and a single pulse of longer duration (2 us) amorphization, used to set the analog synaptic weights of a neuron. Emulating an opportunely trained 100x100 fully connected multilayered perceptron neural network with this weighting functionality embedded as photonic memory, shows up to 93% inference accuracy and robustness towards noise when performing predictions of unseen data

physics.app-ph↗

arXiv2019

Electronic Bottleneck Suppression in Next-generation Networks with Integrated Photonic Digital-to-analog Converters

Digital-to-analog converters (DAC) are indispensable functional units in signal processing instrumentation and wide-band telecommunication links for both civil and military applications. Since photonic systems are capable of high data throughput and low latency, an increasingly found system limitation stems from the required domain-crossing such as digital-to-analog, and electronic-to-optical. A photonic DAC implementation, in contrast, enables a seamless signal conversion with respect to both energy efficiency and short signal delay, often require bulky discrete optical components and electric-optic transformation hence introducing inefficiencies. Here, we introduce a novel coherent parallel photonic DAC concept along with an experimental demonstration capable of performing this digital-to-analog conversion without optic-electric-optic domain crossing. This design hence guarantees a linear intensity weighting among bits operating at high sampling rates, yet at a reduced footprint and power consumption compared to other photonic alternatives. Importantly, this photonic DAC could create seamless interfaces of next-generation data processing hardware for data-centers, task-specific compute accelerators such as neuromorphic engines, and network edge processing applications.

eess.SP↗

arXiv2018

Neuromorphic photonics with electro-absorption modulators

Photonic neural networks benefit from both the high channel capacity- and the wave nature of light acting as an effective weighting mechanism through linear optics. The neuron's activation function, however, requires nonlinearity which can be achieved either through nonlinear optics or electro-optics. Nonlinear optics, while potentially faster, is challenging at low optical power. With electro-optics, a photodiode integrating the weighted products of a photonic perceptron can be paired directly to a modulator, which creates a nonlinear transfer function for efficient operating. Here we model the activation functions of five types of electro-absorption modulators, analyze their individual performance over varying performance parameters, and simulate their combined effect on the inference of the neural network

physics.app-ph↗