arXiv subjects

Junjie Kang

Publications and source records attributed to Junjie Kang.

3 recordsLinked to original sources

arXiv2026

SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a Safety Enhanced Passivity-Based Nonlinear MPC (SEP-NMPC) that provides formal guarantees of stability and safety for a quadrotor transporting a slung payload through cluttered environments. Stability is enforced by embedding a strict passivity inequality, which is derived from a shaped energy storage function with adaptive damping, directly into the NMPC. This formulation dissipates excess energy and ensures asymptotic convergence despite payload swings. Safety is guaranteed through high-order control barrier functions (HOCBFs) that render user-defined clearance sets forward-invariant, obliging both the quadrotor and the swinging payload to maintain separation while interacting with static and dynamic obstacles. The optimization remains quadratic-program compatible and is solved online at each sampling time without gain scheduling or heuristic switching. Extensive simulations and real-world experiments confirm stable payload transport, collision-free trajectories, and real-time feasibility across all tested scenarios. The SEP-NMPC framework therefore unifies passivity-based closed-loop stability with HOCBF-based safety guarantees for UAV slung-payload transportation.

cs.RO↗

arXiv2023

Region-controlled Style Transfer

Image style transfer is a challenging task in computational vision. Existing algorithms transfer the color and texture of style images by controlling the neural network's feature layers. However, they fail to control the strength of textures in different regions of the content image. To address this issue, we propose a training method that uses a loss function to constrain the style intensity in different regions. This method guides the transfer strength of style features in different regions based on the gradient relationship between style and content images. Additionally, we introduce a novel feature fusion method that linearly transforms content features to resemble style features while preserving their semantic relationships. Extensive experiments have demonstrated the effectiveness of our proposed approach.

cs.CV↗

arXiv2021

Drive high power UVC-LED wafer into low-cost 4-inch era: effect of strain modulation

Ultraviolet-C light-emitting diodes (UVC-LEDs) have great application in pathogen inactivation under various kinds of situations, especially in the fight against the COVID-19. Unfortunately, its epitaxial wafers are so far limited to 2-inch size, which greatly increases the cost of massive production. In this work, we report the 4-inch crack-free high-power UVC-LED wafer. This achievement relies on a proposed strain-tailored strategy, where a three-dimensional to two-dimensional (3D-2D) transition layer is introduced during the homo-epitaxy of AlN on high temperature annealed (HTA)-AlN template, which successfully drives the original compressive strain into tensile one and thus solves the challenge of realizing high quality Al$_{0.6}$Ga$_{0.4}$N layer with a flat surface. This smooth Al$_{0.6}$Ga$_{0.4}$N layer is nearly pseudomorphically grown on the strain-tailored HTA-AlN template, leading to 4-inch UVC-LED wafers with outstanding performances. Our strategy succeeds in compromising the bottlenecked contradictory in producing large-sized UVC-LED wafer on pronounced crystalline AlN template: The compressive strain in HTA-AlN allows for crack-free 4-inch wafer, but at the same time leads to a deterioration of the AlGaN morphology and crystal quality. The launch of 4-inch wafers makes the chip fabrication process of UVC-LEDs matches the mature blue one, and will definitely speed up the universal of UVC-LED in daily life.

cond-mat.mtrl-sci↗