arXiv subjects

Rui Jin

Publications and source records attributed to Rui Jin.

35 records · Page 2Linked to original sources

arXiv2025

Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space

Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation methods struggle with balancing high-quality output and efficiency. Moreover, another crucial requirement for convex polytopes to accurately contain certain seed point sets, such as a robot or a front-end path, is proposed in various tasks, which we refer to as manageability. In this paper, we propose Fast Iterative Regional Inflation (FIRI) to generate high-quality convex polytope while ensuring efficiency and manageability simultaneously. FIRI consists of two iteratively executed submodules: Restrictive Inflation (RsI) and Maximum Volume Inscribed Ellipsoid (MVIE) computation. By explicitly incorporating constraints that include the seed point set, RsI guarantees manageability. Meanwhile, iterative MVIE optimization ensures high-quality result through monotonic volume bound improvement.In terms of efficiency, we design methods tailored to the low-dimensional and multi-constrained nature of both modules, resulting in orders of magnitude improvement compared to generic solvers. Notably, in 2-D MVIE, we present the first linear-complexity analytical algorithm for maximum area inscribed ellipse, further enhancing the performance in 2-D cases. Extensive benchmarks conducted against state-of-the-art methods validate the superior performance of FIRI in terms of quality, manageability, and efficiency. Furthermore, various real-world applications showcase the generality and practicality of FIRI.

cs.RO↗

arXiv2024

HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances situational awareness and is crucial for intelligent robotics. Traditional methods often struggle with poor scene representation or are too slow for real-time use. Inspired by the efficacy of 3D Gaussian Splatting (3DGS), we propose a hierarchical planning framework for fast and high-fidelity active reconstruction. Our method evaluates completion and quality gain to adaptively guide reconstruction, integrating global and local planning for efficiency. Experiments in simulated and real-world environments show our approach outperforms existing real-time methods.

cs.RO↗

arXiv2024

AI-based Automatic Segmentation of Prostate on Multi-modality Images: A Review

Prostate cancer represents a major threat to health. Early detection is vital in reducing the mortality rate among prostate cancer patients. One approach involves using multi-modality (CT, MRI, US, etc.) computer-aided diagnosis (CAD) systems for the prostate region. However, prostate segmentation is challenging due to imperfections in the images and the prostate's complex tissue structure. The advent of precision medicine and a significant increase in clinical capacity have spurred the need for various data-driven tasks in the field of medical imaging. Recently, numerous machine learning and data mining tools have been integrated into various medical areas, including image segmentation. This article proposes a new classification method that differentiates supervision types, either in number or kind, during the training phase. Subsequently, we conducted a survey on artificial intelligence (AI)-based automatic prostate segmentation methods, examining the advantages and limitations of each. Additionally, we introduce variants of evaluation metrics for the verification and performance assessment of the segmentation method and summarize the current challenges. Finally, future research directions and development trends are discussed, reflecting the outcomes of our literature survey, suggesting high-precision detection and treatment of prostate cancer as a promising avenue.

eess.IV↗

arXiv2024

Transmission spectroscopy of CF$_4$ molecules in intense x-ray fields

The nonlinear interaction of x-rays with matter is at the heart of understanding and controlling ultrafast molecular dynamics from an atom-specific viewpoint, providing new scientific and analytical opportunities to explore the structure and dynamics of small quantum systems. At increasingly high x-ray intensity, the sensitivity of ultrashort x-ray pulses to specific electronic states and emerging short-lived transient intermediates is of particular relevance for our understanding of fundamental multi-photon absorption processes. In this work, intense x-ray free-electron laser (XFEL) pulses at the European XFEL (EuXFEL) are combined with a gas cell and grating spectrometer for a high-intensity transmission spectroscopy study of multiphoton-induced ultrafast molecular fragmentation dynamics in CF$_4$. This approach unlocks the direct intra-pulse observation of transient fragments, including neutral atoms, by their characteristic absorption lines in the transmitted broad-band x-ray spectrum. The dynamics with and without initially producing fluorine K-shell holes are studied by tuning the central photon energy. The absorption spectra are measured at different FEL intensities to observe nonlinear effects. Transient isolated fluorine atoms and ions are spectroscopically recorded within the ultrashort pulse duration of few tens of femtoseconds. An isosbestic point that signifies the correlated transition between intact neutral CF$_4$ molecules and charged atomic fragments is observed near the fluorine K-edge. The dissociation dynamics and the multiphoton absorption-induced dynamics encoded in the spectra are theoretically interpreted. Overall, this study demonstrates the potential of high-intensity x-ray transmission spectroscopy to study ultrafast molecular dynamics with sensitivity to specific intermediate species and their electronic structure.

physics.atom-ph↗

arXiv2024

GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction

Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations, existing methods show unrealistic reconstruction results or the inability of online quality evaluation. Due to the recent advancements in explicit radiance field technology, online active high-fidelity reconstruction has become achievable. In this paper, we propose GS-Planner, a planning framework for active high-fidelity reconstruction using 3D Gaussian Splatting. With improvement on 3DGS to recognize unobserved regions, we evaluate the reconstruction quality and completeness of 3DGS map online to guide the robot. Then we design a sampling-based active reconstruction strategy to explore the unobserved areas and improve the reconstruction geometric and textural quality. To establish a complete robot active reconstruction system, we choose quadrotor as the robotic platform for its high agility. Then we devise a safety constraint with 3DGS to generate executable trajectories for quadrotor navigation in the 3DGS map. To validate the effectiveness of our method, we conduct extensive experiments and ablation studies in highly realistic simulation scenes.

cs.RO↗

arXiv2024

Non-uniqueness in law of Leray solutions to 3D forced stochastic Navier-Stokes equations

This paper concerns the forced stochastic Navier-Stokes equation driven by additive noise in the three dimensional Euclidean space. By constructing an appropriate forcing term, we prove that there exist distinct Leray solutions in the probabilistically weak sense. In particular, the joint uniqueness in law fails in the Leray class. The non-uniqueness also displays in the probabilistically strong sense in the local time regime, up to stopping times. Furthermore, we discuss the optimality from two different perspectives: sharpness of the hyper-viscous exponent and size of the external force. These results in particular yield that the Lions exponent is the sharp viscosity threshold for the uniqueness/non-uniqueness in law of Leray solutions. Our proof utilizes the self-similarity and instability programme developed by Jia Šverák [42,43] and Albritton-Brué-Colombo [1], together with the theory of martingale solutions including stability for non-metric spaces and gluing procedure.

math.PR↗

arXiv2024

Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios

Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with a steady relative state and reliable perception is a prerequisite. This paper presents an adaptive dynamic tracking and perching scheme for autonomous quadrotors to achieve tight integration with moving platforms. For reliable perception of dynamic targets, we introduce elastic visibility-aware planning to actively avoid occlusion and target loss. Additionally, we propose a flexible terminal adjustment method that adapts the changes in flight duration and the coupled terminal states, ensuring full-state synchronization with the time-varying perching surface at various angles. A relaxation strategy is developed by optimizing the tangential relative speed to address the dynamics and safety violations brought by hard boundary conditions. Moreover, we take SE(3) motion planning into account to ensure no collision between the quadrotor and the platform until the contact moment. Furthermore, we propose an efficient spatiotemporal trajectory optimization framework considering full state dynamics for tracking and perching. The proposed method is extensively tested through benchmark comparisons and ablation studies. To facilitate the application of academic research to industry and to validate the efficiency of our scheme under strictly limited computational resources, we deploy our system on a commercial drone (DJI-MAVIC3) with a full-size sport-utility vehicle (SUV). We conduct extensive real-world experiments, where the drone successfully tracks and perches at 30~km/h (8.3~m/s) on the top of the SUV, and at 3.5~m/s with 60° inclined into the trunk of the SUV.

cs.RO↗

arXiv2023

User Authentication and Identity Inconsistency Detection via Mouse-trajectory Similarity Measurement

Completely Automated Public Turing Test To Tell Computers and Humans Apart (CAPTCHA) is a type of challenge-response test widely used in authentication systems. A well-known challenge it faces is the CAPTCHA farm, where workers are hired to solve CAPTCHAs manually. In this work, we propose to tackle this challenge from a novel perspective, converting CAPTCHA farm detection to identity inconsistency detection, which essentially becomes an authentication process. Specifically, we develop a novel embedding model, which measures the similarity between mouse trajectories collected during the session and when registering/solving CAPTCHA, to authenticate and detect identity inconsistency. Moreover, unlike most existing works that employ a separate mouse movement classifier for each individual user, which brings in considerable costs when serving a large number of users, our model performs detection tasks using only one classifier for all users, significantly reducing the cost. Experiment results validate the superiority of our method over the state-of-the-art time series classification methods, achieving 94.3% and 97.7% of AUC in identity and authentication inconsistency detection, respectively.

cs.CR↗

arXiv2023

Approximations of Euler-Maxwell systems by drift-diffusion equations through zero-relaxation limits near non-constant equilibrium

Due to extreme difficulties in numerical simulations of Euler-Maxwell equations, which are caused by the highly complicated structures of the equations, this paper concerns the simplification of Euler-Maxwell system through the zero-relaxation limit towards the drift-diffusion equations with non-constant doping functions. We carry out the global-in-time convergence analysis by establishing uniform estimates of solutions near non-constant equilibrium regarding the relaxation parameter and passing to the limit by using classical compactness arguments. Furthermore, stream function methods are carefully generalized to the non-constant equilibrium case, with which as well as the anti-symmetric structure of the error system and an induction argument, we establish global-in-time error estimates between smooth solutions to the Euler-Maxwell system and those to drift-diffusion system, which are bounded by some power of relaxation parameter.

math.AP↗

arXiv2023

How Secure is Your Website? A Comprehensive Investigation on CAPTCHA Providers and Solving Services

Completely Automated Public Turing Test To Tell Computers and Humans Apart (CAPTCHA) has been implemented on many websites to identify between harmful automated bots and legitimate users. However, the revenue generated by the bots has turned circumventing CAPTCHAs into a lucrative business. Although earlier studies provided information about text-based CAPTCHAs and the associated CAPTCHA-solving services, a lot has changed in the past decade regarding content, suppliers, and solvers of CAPTCHA. We have conducted a comprehensive investigation of the latest third-party CAPTCHA providers and CAPTCHA-solving services' attacks. We dug into the details of CAPTCHA-As-a-Service and the latest CAPTCHA-solving services and carried out adversarial experiments on CAPTCHAs and CAPTCHA solvers. The experiment results show a worrying fact: most latest CAPTCHAs are vulnerable to both human solvers and automated solvers. New CAPTCHAs based on hard AI problems and behavior analysis are needed to stop CAPTCHA solvers.

cs.CR↗

arXiv2023

Crossword: A Semantic Approach to Data Compression via Masking

The traditional methods for data compression are typically based on the symbol-level statistics, with the information source modeled as a long sequence of i.i.d. random variables or a stochastic process, thus establishing the fundamental limit as entropy for lossless compression and as mutual information for lossy compression. However, the source (including text, music, and speech) in the real world is often statistically ill-defined because of its close connection to human perception, and thus the model-driven approach can be quite suboptimal. This study places careful emphasis on English text and exploits its semantic aspect to enhance the compression efficiency further. The main idea stems from the puzzle crossword, observing that the hidden words can still be precisely reconstructed so long as some key letters are provided. The proposed masking-based strategy resembles the above game. In a nutshell, the encoder evaluates the semantic importance of each word according to the semantic loss and then masks the minor ones, while the decoder aims to recover the masked words from the semantic context by means of the Transformer. Our experiments show that the proposed semantic approach can achieve much higher compression efficiency than the traditional methods such as Huffman code and UTF-8 code, while preserving the meaning in the target text to a great extent.

cs.CL↗

arXiv2022

Accelerating Federated Learning with a Global Biased Optimiser

Federated Learning (FL) is a recent development in distributed machine learning that collaboratively trains models without training data leaving client devices, preserving data privacy. In real-world FL, the training set is distributed over clients in a highly non-Independent and Identically Distributed (non-IID) fashion, harming model convergence speed and final performance. To address this challenge, we propose a novel, generalised approach for incorporating adaptive optimisation into FL with the Federated Global Biased Optimiser (FedGBO) algorithm. FedGBO accelerates FL by employing a set of global biased optimiser values during training, reducing 'client-drift' from non-IID data whilst benefiting from adaptive optimisation. We show that in FedGBO, updates to the global model can be reformulated as centralised training using biased gradients and optimiser updates, and apply this framework to prove FedGBO's convergence on nonconvex objectives when using the momentum-SGD (SGDm) optimiser. We also conduct extensive experiments using 4 FL benchmark datasets (CIFAR100, Sent140, FEMNIST, Shakespeare) and 3 popular optimisers (SGDm, RMSProp, Adam) to compare FedGBO against six state-of-the-art FL algorithms. The results demonstrate that FedGBO displays superior or competitive performance across the datasets whilst having low data-upload and computational costs, and provide practical insights into the trade-offs associated with different adaptive-FL algorithms and optimisers.

cs.LG↗

arXiv2022

MixNN: A design for protecting deep learning models

In this paper, we propose a novel design, called MixNN, for protecting deep learning model structure and parameters. The layers in a deep learning model of MixNN are fully decentralized. It hides communication address, layer parameters and operations, and forward as well as backward message flows among non-adjacent layers using the ideas from mix networks. MixNN has following advantages: 1) an adversary cannot fully control all layers of a model including the structure and parameters, 2) even some layers may collude but they cannot tamper with other honest layers, 3) model privacy is preserved in the training phase. We provide detailed descriptions for deployment. In one classification experiment, we compared a neural network deployed in a virtual machine with the same one using the MixNN design on the AWS EC2. The result shows that our MixNN retains less than 0.001 difference in terms of classification accuracy, while the whole running time of MixNN is about 7.5 times slower than the one running on a single virtual machine.

cs.DC↗

arXiv2021

Subspace-based compressive sensing algorithm for raypath separation in a shallow-water waveguide

Compressive sensing (CS) has been applied to estimate the direction of arrival (DOA) in underwater acoustics. However, the key problem needed to be resolved in a {multipath} propagation environment is to suppress the interferences between the raypaths. Thus, in this paper, {a subspace-based compressive sensing algorithm that formulates the statistic information of the signal subspace in a CS framework is proposed.} The experiment results show that (1) the proposed algorithm enables the separation of raypaths that arrive closely at the {receiver} array and (2) the existing algorithms fail, especially in a low signal-to-noise ratio (SNR) environment.

cs.SD↗

arXiv2021

Transient ionization potential depression in nonthermal dense plasmas at high x-ray intensity

The advent of x-ray free-electron lasers (XFELs), which provide intense ultrashort x-ray pulses, has brought a new way of creating and analyzing hot and warm dense plasmas in the laboratory. Because of the ultrashort pulse duration, the XFEL-produced plasma will be out of equilibrium at the beginning and even the electronic subsystem may not reach thermal equilibrium while interacting with a femtosecond time-scale pulse. In the dense plasma, the ionization potential depression (IPD) induced by the plasma environment plays a crucial role for understanding and modeling microscopic dynamical processes. However, all theoretical approaches for IPD have been based on local thermal equilibrium (LTE) and it has been controversial to use LTE IPD models for the nonthermal situation. In this work, we propose a non-LTE (NLTE) approach to calculate the IPD effect by combining a quantum-mechanical electronic-structure calculation and a classical molecular dynamics simulation. This hybrid approach enables us to investigate the time evolution of ionization potentials and IPDs during and after the interaction with XFEL pulses, without the limitation of the LTE assumption. In our NLTE approach, the transient IPD values are presented as distributions evolving with time, which cannot be captured by conventional LTE-based models. The time-integrated ionization potential values are in good agreement with benchmark experimental data on solid-density aluminum plasma and other theoretical predictions based on LTE. The present work is promising to provide critical insights into nonequilibrium dynamics of dense plasma formation and thermalization induced by XFEL pulses.

physics.plasm-ph↗

arXiv2019

Fast Markov chain Monte Carlo for high dimensional Bayesian regression models with shrinkage priors

In the past decade, many Bayesian shrinkage models have been developed for linear regression problems where the number of covariates, $p$, is large. Computing the intractable posterior are often done with three-block Gibbs samplers (3BG), based on representing the shrinkage priors as scale mixtures of Normal distributions. An alternative computing tool is a state of the art Hamiltonian Monte Carlo (HMC) method, which can be easily implemented in the Stan software. However, we found both existing methods to be inefficient and often impractical for large $p$ problems. Following the general idea of Rajaratnam et al. (2018), we propose two-block Gibbs samplers (2BG) for three commonly used shrinkage models, namely, the Bayesian group lasso, the Bayesian sparse group lasso and the Bayesian fused lasso models. We demonstrate with simulated and real data examples that the Markov chains underlying 2BG's converge much faster than that of 3BG's, and no worse than that of HMC. At the same time, the computing costs of 2BG's per iteration are as low as that of 3BG's, and can be several orders of magnitude lower than that of HMC. As a result, the newly proposed 2BG is the only practical computing solution to do Bayesian shrinkage analysis for datasets with large $p$. Further, we provide theoretical justifications for the superior performance of 2BG's. We establish geometric ergodicity (GE) of Markov chains associated with the 2BG for each of the three Bayesian shrinkage models. We also prove, for most cases of the Bayesian group lasso and the Bayesian sparse group lasso model, the Markov operators for the 2BG chains are trace-class. Whereas for all cases of all three Bayesian shrinkage models, the Markov operator for the 3BG chains are not even Hilbert-Schmidt.

stat.CO↗

arXiv2011

GPS Ionospheric mapping and tomography: A case of study in a geomagnetic storm

The ionosphere has been normally detected by traditional instruments, such as ionosonde, scatter radars, topside sounders onboard satellites and in situ rocket. However, most instruments are expensive and also restricted to either the bottomside ionosphere or the lower part of the topside ionosphere (usually lower than 800 km), such as ground based radar measurements. Nowadays, GPS satellites in high altitude orbits (~20,200 km) are capable of providing details on the structure of the entire ionosphere, even the plasmasphere. In this paper, a Regional Ionospheric Mapping and Tomography (RIMT) tool was developed, which can be used to retrieve 2-D TEC and 3-D ionospheric electron density profiles using ground-based or space-borne GPS measurements. Some results are presented from the RIMT tool using regional GPS networks in South Korea and validated using the independent ionosonde. GPS can provide time-varying ionospheric profiles and information at any specified grid related to ionospheric activities and states, including the electron density response at the F2-layer peak (the NmF2) during geomagnetic storms.

physics.space-ph↗