arXiv subjects

Sean Liu

Publications and source records attributed to Sean Liu.

3 recordsLinked to original sources

arXiv2026

Quadrature Oscillation System for Coordinated Motion in Crawling Origami Robot

Origami-inspired robots offer rapid, accessible design and manufacture with diverse functionalities. In particular, origami robots without conventional electronics have the unique advantage of functioning in extreme environments such as ones with high radiation or large magnetic fields. However, the absence of sophisticated control systems limits these robots to simple autonomous behaviors. In our previous studies, we developed a printable, electronics-free, and self-sustained oscillator that generates simple complementary square-wave signals. Our study presents a quadrature oscillation system capable of generating four square-wave signals a quarter-cycle out of phase, enabling four distinct states. Such control signals are important in various engineering and robotics applications, such as orchestrating limb movements in bio-inspired robots. We demonstrate the practicality and value of this oscillation system by designing and constructing an origami crawling robot that utilizes the quadrature oscillator to achieve coordinated locomotion. Together, the oscillator and robot illustrate the potential for more complex control and functions in origami robotics, paving the way for more electronics-free, rapid-design origami robots with advanced autonomous behaviors.

cs.RO↗

arXiv2022

Doppler: Automated SKU Recommendation in Migrating SQL Workloads to the Cloud

Selecting the optimal cloud target to migrate SQL estates from on-premises to the cloud remains a challenge. Current solutions are not only time-consuming and error-prone, requiring significant user input, but also fail to provide appropriate recommendations. We present Doppler, a scalable recommendation engine that provides right-sized Azure SQL Platform-as-a-Service (PaaS) recommendations without requiring access to sensitive customer data and queries. Doppler introduces a novel price-performance methodology that allows customers to get a personalized rank of relevant cloud targets solely based on low-level resource statistics, such as latency and memory usage. Doppler supplements this rank with internal knowledge of Azure customer behavior to help guide new migration customers towards one optimal target. Experimental results over a 9-month period from prospective and existing customers indicate that Doppler can identify optimal targets and adapt to changes in customer workloads. It has also found cost-saving opportunities among over-provisioned cloud customers, without compromising on capacity or other requirements. Doppler has been integrated and released in the Azure Data Migration Assistant v5.5, which receives hundreds of assessment requests daily.

cs.DB↗

arXiv2021

LaneAF: Robust Multi-Lane Detection with Affinity Fields

This study presents an approach to lane detection involving the prediction of binary segmentation masks and per-pixel affinity fields. These affinity fields, along with the binary masks, can then be used to cluster lane pixels horizontally and vertically into corresponding lane instances in a post-processing step. This clustering is achieved through a simple row-by-row decoding process with little overhead; such an approach allows LaneAF to detect a variable number of lanes without assuming a fixed or maximum number of lanes. Moreover, this form of clustering is more interpretable in comparison to previous visual clustering approaches, and can be analyzed to identify and correct sources of error. Qualitative and quantitative results obtained on popular lane detection datasets demonstrate the model's ability to detect and cluster lanes effectively and robustly. Our proposed approach sets a new state-of-the-art on the challenging CULane dataset and the recently introduced Unsupervised LLAMAS dataset.

cs.CV↗