arXiv subjects

Wenxin Wang

Publications and source records attributed to Wenxin Wang.

34 records · Page 2Linked to original sources

arXiv2024

Alternating Direction Method of Multipliers-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control

This paper investigates the collision-free control problem for multi-agent systems. For such multi-agent systems, it is the typical situation where conventional methods using either the usual centralized model predictive control (MPC), or even the distributed counterpart, would suffer from substantial difficulty in balancing optimality and computational efficiency. Additionally, the non-convex characteristics that invariably arise in such collision-free control and optimization problems render it difficult to effectively derive a reliable solution (and also to thoroughly analyze the associated convergence properties). To overcome these challenging issues, this work establishes a suitably novel parallel computation framework through an innovative mathematical problem formulation; and then with this framework and formulation, a parallel algorithm based on alternating direction method of multipliers (ADMM) is presented to solve the sub-problems arising from the resulting parallel structure. Furthermore, an efficient and intuitive initialization procedure is developed to accelerate the optimization process, and the optimum is thus determined with significantly improved computational efficiency. As supported by rigorous proofs, the convergence of the proposed ADMM iterations for this non-convex optimization problem is analyzed and discussed in detail. Finally, a simulation with a group of unmanned aerial vehicles (UAVs) serves as an illustrative example here to demonstrate the effectiveness and efficiency of the proposed approach. Also, the simulation results verify significant improvements in accuracy and computational efficiency compared to other baselines, including primal quadratic mixed integer programming (PQ-MIP), non-convex quadratic mixed integer programming (NC-MIP), and non-convex quadratically constrained quadratic programming (NC-QCQP).

cs.MA↗

arXiv2023

Ground Calibration Result of the Lobster Eye Imager for Astronomy

We report on results of the on-ground X-ray calibration of the Lobster Eye Imager for Astronomy (LEIA), an experimental space wide-field (18.6*18.6 square degrees) X-ray telescope built from novel lobster eye mirco-pore optics. LEIA was successfully launched on July 27, 2022 onboard the SATech-01 satellite. To achieve full characterisation of its performance before launch, a series of tests and calibrations have been carried out at different levels of devices, assemblies and the complete module. In this paper, we present the results of the end-to-end calibration campaign of the complete module carried out at the 100-m X-ray Test Facility at IHEP. The PSF, effective area and energy response of the detectors were measured in a wide range of incident directions at several X-ray line energies. The distributions of the PSF and effective areas are roughly uniform across the FoV, in large agreement with the prediction of lobster-eye optics. The mild variations and deviations from the prediction of idealized lobster-eye optics can be understood to be caused by the imperfect shapes and alignment of the micro-pores as well as the obscuration by the supporting frames, which can be well reproduced by MC simulations. The spatial resolution of LEIA defined by the FWHM of the focal spot ranges from 4-8 arcmin with a median of 5.7. The measured effective areas are in range of 2-3 $cm^2$ at ~1.25 keV across the entire FoV, and its dependence on photon energy is in large agreement with simulations. The gains of the CMOS sensors are in range of 6.5-6.9 eV/DN, and the energy resolutions in the range of ~120-140 eV at 1.25 keV and ~170-190 eV at 4.5 keV. These results have been ingested into the calibration database and applied to the analysis of the scientific data acquired by LEIA. This work paves the way for the calibration of the Wide-field X-Ray Telescope modules of the Einstein Probe mission.

astro-ph.IM↗

arXiv2023

A Two-Stage Generative Model with CycleGAN and Joint Diffusion for MRI-based Brain Tumor Detection

Accurate detection and segmentation of brain tumors is critical for medical diagnosis. However, current supervised learning methods require extensively annotated images and the state-of-the-art generative models used in unsupervised methods often have limitations in covering the whole data distribution. In this paper, we propose a novel framework Two-Stage Generative Model (TSGM) that combines Cycle Generative Adversarial Network (CycleGAN) and Variance Exploding stochastic differential equation using joint probability (VE-JP) to improve brain tumor detection and segmentation. The CycleGAN is trained on unpaired data to generate abnormal images from healthy images as data prior. Then VE-JP is implemented to reconstruct healthy images using synthetic paired abnormal images as a guide, which alters only pathological regions but not regions of healthy. Notably, our method directly learned the joint probability distribution for conditional generation. The residual between input and reconstructed images suggests the abnormalities and a thresholding method is subsequently applied to obtain segmentation results. Furthermore, the multimodal results are weighted with different weights to improve the segmentation accuracy further. We validated our method on three datasets, and compared with other unsupervised methods for anomaly detection and segmentation. The DSC score of 0.8590 in BraTs2020 dataset, 0.6226 in ITCS dataset and 0.7403 in In-house dataset show that our method achieves better segmentation performance and has better generalization.

eess.IV↗

arXiv2023

Relationship Quantification of Image Degradations

In this paper, we study two challenging but less-touched problems in image restoration, namely, i) how to quantify the relationship between image degradations and ii) how to improve the performance of a specific restoration task using the quantified relationship. To tackle the first challenge, we proposed a Degradation Relationship Index (DRI) which is defined as the mean drop rate difference in the validation loss between two models which are respectively trained using the anchor degradation and the mixture of the anchor and the auxiliary degradations. Through quantifying the degradation relationship using DRI, we reveal that i) a positive DRI always predicts performance improvement by using the specific degradation as an auxiliary to train models; ii) the degradation proportion is crucial to the image restoration performance. In other words, the restoration performance is improved only if the anchor and the auxiliary degradations are mixed with an appropriate proportion. Based on the observations, we further propose a simple but effective method (dubbed DPD) to estimate whether the given degradation combinations could improve the performance on the anchor degradation with the assistance of the auxiliary degradation. Extensive experimental results verify the effectiveness of our method in dehazing, denoising, deraining, and desnowing. The code will be released after acceptance.

cs.CV↗

arXiv2023

Data-Driven Predictive Control Towards Multi-Agent Motion Planning With Non-Parametric Closed-Loop Behavior Learning

In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened in outcome when the traditional MPC algorithm is adopted under those circumstances when such accuracy is lacking. This paper investigates a non-parametric closed-loop behavior learning method for multi-agent motion planning, which underpins a data-driven predictive control framework. Utilizing an innovative methodology with closed-loop input/output measurements of the unknown system, the behavior of the system is learned based on the collected dataset, and thus the constructed non-parametric predictive model can be used to determine the optimal control actions. This non-parametric predictive control framework alleviates the heavy computational burden commonly encountered in the optimization procedures typically in alternate methodologies requiring open-loop input/output measurement data collection and parametric system identification. The proposed data-driven approach is also shown to preserve good robustness properties. Finally, a multi-UAV system is used to demonstrate the highly effective outcome of this promising development.

cs.MA↗

arXiv2023

Data-Driven Linear Quadratic Optimization for Controller Synthesis with Structural Constraints

For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be highly attractive. In certain scenarios, it can happen that some prescribed structural constraints on the gain matrix would arise. Consequently then, the Algebraic Riccati Equation (ARE) is no longer applicable in a straightforward way to obtain the optimal solution. This work presents a rather effective alternative optimization approach based on gradient projection. The utilized gradient is obtained through a data-driven methodology, and then projected onto applicable constrained hyperplanes. Essentially, this projection gradient determines a direction of progression and computation for the gain matrix update with a decreasing functional cost; and then the gain matrix is further refined in an iterative framework. With this formulation, a data-driven optimization algorithm is summarized for controller synthesis with structural constraints. This data-driven approach has the key advantage that it avoids the necessity of precise modeling which is always required in the classical model-based counterpart; and thus the approach can additionally accommodate various model uncertainties. Illustrative examples are also provided in the work to validate the theoretical results.

math.OC↗

arXiv2022

X-ray Performance of a Small Pixel Size sCMOS Sensor and the Effect of Depletion Depth

In recent years, scientific Complementary Metal Oxide Semiconductor (sCMOS) devices have been increasingly applied in X-ray detection, thanks to their attributes such as high frame rate, low dark current, high radiation tolerance and low readout noise. We tested the basic performance of a backside-illuminated (BSI) sCMOS sensor, which has a small pixel size of 6.5 um * 6.5 um. At a temperature of -20C, The readout noise is 1.6 e, the dark current is 0.5 e/pixel/s, and the energy resolution reaches 204.6 eV for single-pixel events. The effect of depletion depth on the sensor's performance was also examined, using three versions of the sensors with different deletion depths. We found that the sensor with a deeper depletion region can achieve a better energy resolution for events of all types of pixel splitting patterns, and has a higher efficiency in collecting photoelectrons produced by X-ray photons. We further study the effect of depletion depth on charge diffusion with a center-of-gravity (CG) model. Based on this work, a highly depleted sCMOS is recommended for applications of soft X-ray spectroscop.

physics.ins-det↗

arXiv2022

X-ray performance of a customized large-format scientifc CMOS detector

In recent years, the performance of Scientifc Complementary Metal Oxide Semiconductor (sCMOS) sensors has been improved signifcantly. Compared with CCD sensors, sCMOS sensors have various advantages, making them potentially better devices for optical and X-ray detection, especially in time-domain astronomy. After a series of tests of sCMOS sensors, we proposed a new dedicated high-speed, large-format X-ray detector in 2016 cooperating with Gpixel Inc. This new sCMOS sensor has a physical size of 6 cm by 6 cm, with an array of 4096 by 4096 pixels and a pixel size of 15 um. The frame rate is 20.1 fps under current condition and can be boosted to a maximum value around 100 fps. The epitaxial thickness is increased to 10 um compared to the previous sCMOS product. We show the results of its frst taped-out product in this work. The dark current of this sCMOS is lower than 10 e/pixel/s at 20C, and lower than 0.02 e/pixel/s at -30C. The Fixed Pattern Noise (FPN) and the readout noise are lower than 5 e in high-gain situation and show a small increase at low temperature. The energy resolution reaches 180.1 eV (3.1%) at 5.90 keV for single-pixel events and 212.3 eV (3.6%) for all split events. The continuous X-ray spectrum measurement shows that this sensor is able to response to X-ray photons from 500 eV to 37 keV. The excellent performance, as demonstrated from these test results, makes sCMOS sensor an ideal detector for X-ray imaging and spectroscopic application.

astro-ph.IM↗

arXiv2022

Design and test results of scientific X-ray CMOS cameras

In recent years, scientific CMOS (sCMOS) sensors have found increasing applications to X-ray detection, including X-ray astronomical observations. In order to examine the performance of sCMOS sensors, we have developed X-ray cameras based on sCMOS sensors. Two cameras, CNX22 and CNX 66, have been developed using sCMOS sensors with a photosensitive area of 2 cm * 2 cm and 6 cm * 6 cm, respectively. The designs of the cameras are presented in this paper. The CNX22 camera has a frame rate of 48 fps, whereas CNX66 has a frame rate of currently 20 fps, that can be boosted to 100 fps in the future. The operating temperature of the sCMOS sensor can reach to -20C for CNX22 and -30C for CNX66 with a peltier cooler device. In addition to the commonly used mode of saving original images, the cameras provide a mode of real-time extraction of X-ray events and storage their information, which significantly reduces the requirement for data storage and offline analysis work. For both cameras, the energy resolutions can reach less than 200 eV at 5.9 keV using single-pixel events. These cameras are suitable for X-ray spectroscopy applications in laboratories and calibration for the space X-ray telescopes.

astro-ph.IM↗

arXiv2022

Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization

This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the performance specifications on sensitivity shaping are conformed in a specific finite frequency range. Utilizing the notion of generalized common Lyapunov strictly positive realness (CL-SPRness), the equivalence between strictly positive realness (SPRness) and strictly bounded realness (SBRness) is established; and then the specifications on robust stability and performance are transformed into the SPRness of newly constructed systems and further characterized in the framework of linear matrix inequality (LMI) conditions. The proposed methodology avoids the tedious yet mandatory evaluations of the specifications on all vertices of the uncertain polytopic system in an explicit form. Instead, solving five LMIs exclusively suffices for ensuring the robust stability and performance regardless of the number of vertices, and thus the typically heavy computational burden is considerably alleviated. It is also noteworthy that the proposed methodology additionally provides the necessary and sufficient conditions for this robust controller design with the consideration of a prescribed finite frequency range, and therefore significantly less conservatism is attained in the system performance.

eess.SY↗

arXiv2021

Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved multi-axis cooperation is one of the most challenging problems. As also would be inevitably encountered, various factors render the multi-axis cooperation rather difficult; such as the strong coupling (which naturally brings nonlinearity) between different axes due to its mechanical structure, the backlash and deadzone caused by the friction, and the difficulties in system identification, etc. To overcome the above-mentioned issues, this work investigates an intelligent model-free contouring control method for such a multi-axis motion stage. Essentially in the methodology developed here, it is firstly ensured that all the coupling, friction, nonlinearity, and disturbance (regarded as uncertain dynamics in each axis) are suitably posed as `uncertainties'. Then, a varying-gain sliding mode control method is proposed to adaptively compensate for the matched unknown dynamics in the time domain, while an iterative learning law is applied to suppress the undesirable effects (arising from the repetitive matched and unmatched uncertainties in the iteration domain). With this approach, the chattering that typically results from the overestimated control gains in the sliding mode control is thus suppressed during the iterations. To analyze the contouring performance and show the improved outcomes, rigorous proof is furnished on both the stability in the time domain and the convergence in the iteration domain; and the real-time experiments also illustrate that the requirements of precision motion control towards high-speed and complex-curvature references can be satisfied using the proposed method, without prior knowledge of the boundary to the unknown dynamics.

eess.SY↗

arXiv2021

Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage

Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Nevertheless, the system model and parameters are difficult to be obtained accurately. Moreover, the high-order modes, strong coupling in the multi-axis systems, or unmodeled frictions will bring uncertain dynamics to the system. To overcome the above-mentioned issues and enhance the motion performance, this paper introduces a novel intelligent and totally model-free control method for mechatronic systems with unknown dynamics. In detail, a 2-degree-of-freedom (DOF) architecture is designed, which organically merges a generalized super-twisting algorithm with a unique iterative learning law. The controller solely utilizes the input-output data collected in iterations such that it works without any knowledge of the system parameters. The rigorous proof of convergence ability is given and a case study on flexture-joint dual-drive H-gantry stage is shown to validate the effectiveness of the proposed method.

eess.SY↗

arXiv2019

A Multimodal Alerting System for Online Class Quality Assurance

Online 1 on 1 class is created for more personalized learning experience. It demands a large number of teaching resources, which are scarce in China. To alleviate this problem, we build a platform (marketplace), i.e., \emph{Dahai} to allow college students from top Chinese universities to register as part-time instructors for the online 1 on 1 classes. To warn the unqualified instructors and ensure the overall education quality, we build a monitoring and alerting system by utilizing multimodal information from the online environment. Our system mainly consists of two key components: banned word detector and class quality predictor. The system performance is demonstrated both offline and online. By conducting experimental evaluation of real-world online courses, we are able to achieve 74.3\% alerting accuracy in our production environment.

cs.HC↗

arXiv2016

A Time Projection Chamber with GEM-Based Readout

For the International Large Detector concept at the planned International Linear Collider, the use of time projection chambers (TPC) with micro-pattern gas detector readout as the main tracking detector is investigated. In this paper, results from a prototype TPC, placed in a 1 T solenoidal field and read out with three independent GEM-based readout modules, are reported. The TPC was exposed to a 6 GeV electron beam at the DESY II synchrotron. The efficiency for reconstructing hits, the measurement of the drift velocity, the space point resolution and the control of field inhomogeneities are presented.

physics.ins-det↗

arXiv2012

Electron Density Dependence of in-plane Spin Relaxation Anisotropy in GaAs/AlGaAs Two-Dimensional Electron Gas

We investigated the spin dynamics of two-dimensional electrons in (001) GaAs/AlGaAs heterostructure using the time resolved Kerr rotation technique under a transverse magnetic field. The in-plane spin lifetime is found to be anisotropic below 150k due to the interference of Rashba and Dresselhaus spin-orbit coupling and D'yakonov-Perel' spin relaxation. The ratio of in-plane spin lifetimes is measured directly as a function of temperature and pump power, showing that the electron density in 2DEG channel strongly affects the Rashba spin-orbit coupling.

cond-mat.mes-hall↗

arXiv2006

Experimental Observation of the Inverse Spin Hall Effect at Room Temperature

We observe the inverse spin Hall effect in a two-dimensional electron gas confined in AlGaAs/InGaAs quantum wells. Specifically, we find that an inhomogeneous spin density induced by the optical injection gives rise an electric current transverse to both the spin polarization and its gradient. The spin Hall conductivity can be inferred from such a measurement through the Einstein relation and the Onsager relation, and is found to have the order of magnitude of $0.5(e^{2}/h)$. The observation is made at the room temperature and in samples with macroscopic sizes, suggesting that the inverse spin Hall effect is a robust macroscopic transport phenomenon.

cond-mat.mes-hall↗