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Yan Gu

Publications and source records attributed to Yan Gu.

At least 73 records · Page 4Linked to original sources

Parallel Longest Increasing Subsequence and van Emde Boas Trees

This paper studies parallel algorithms for the longest increasing subsequence (LIS) problem. Let $n$ be the input size and $k$ be the LIS length of the input. Sequentially, LIS is a simple problem that can be solved using dynamic programming (DP) in $O(n\log n)$ work. However, parallelizing LIS is a long-standing challenge. We are unaware of any parallel LIS algorithm that has optimal $O(n\log n)$ work and non-trivial parallelism (i.e., $\tilde{O}(k)$ or $o(n)$ span). This paper proposes a parallel LIS algorithm that costs $O(n\log k)$ work, $\tilde{O}(k)$ span, and $O(n)$ space, and is much simpler than the previous parallel LIS algorithms. We also generalize the algorithm to a weighted version of LIS, which maximizes the weighted sum for all objects in an increasing subsequence. To achieve a better work bound for the weighted LIS algorithm, we designed parallel algorithms for the van Emde Boas (vEB) tree, which has the same structure as the sequential vEB tree, and supports work-efficient parallel batch insertion, deletion, and range queries. We also implemented our parallel LIS algorithms. Our implementation is light-weighted, efficient, and scalable. On input size $10^9$, our LIS algorithm outperforms a highly-optimized sequential algorithm (with $O(n\log k)$ cost) on inputs with $k\le 3\times 10^5$. Our algorithm is also much faster than the best existing parallel implementation by Shen et al. (2022) on all input instances.

cs.DS↗

Modeling of Interface Loads for EOD Suit Wearers

Explosive Ordnance Disposal (EOD) suits are widely used to protect human operators to execute emergency tasks such as bomb disposal and neutralization. Current suit designs still need to be improved in terms of wearer comfort, which can be assessed based on the interaction forces at the human-suit contact regions. This paper introduces a simulation-based modeling framework that computes the interaction loads at the human-suit interface based on a wearer's kinematic movement data. The proposed modeling framework consists of three primary components: a) inertial and geometric modeling of the EOD suit, b) state estimation of the wearer's in-suit movement, and c) inverse dynamics analysis to calculate the human-suit interface forces based on the simulated human-suit model and the estimated human movement data. This simulation-based modeling method could be used to complement experimental testing for improving the time and cost efficiency of EOD suit evaluation. The accuracy of the simulated interface load was experimentally benchmarked during three different human tasks (each with three trials), by comparing the predicted interface forces with that measured by commercial pressure sensors.

eess.SP↗

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and develops a real-time motion planner based on the proposed model and its analytical solution. This study first theoretically extends the classical linear inverted pendulum (LIP) model from legged locomotion on a static surface to DRS locomotion, by relaxing the LIP's underlying assumption that the surface is static. The resulting model, which we call "DRS-LIP", is explicitly time-varying. After converting the DRS-LIP into Mathieu's equation, an approximate analytical solution of the DRS-LIP is obtained, which is reasonably accurate with a low computational cost. Furthermore, to illustrate the practical uses of the analytical results, they are exploited to develop a hierarchical motion planner that efficiently generates physically feasible trajectories for DRS locomotion. Finally, the effectiveness of the proposed theoretical results and motion planner is demonstrated both through PyBullet simulations and experimentally on a Laikago quadrupedal robot that walks on a rocking treadmill. The videos of simulations and hardware experiments are available at https://youtu.be/u2Q_u2pR99c.

cs.RO↗

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control approach that achieves stable underactuated bipedal robot walking on a horizontally oscillating DRS. The highest layer of our approach is a real-time motion planner that generates desired global behaviors (i.e., the center of mass trajectories and footstep locations) by stabilizing a reduced-order robot model. One key novelty of this layer is the derivation of the reduced-order model by analytically extending the angular momentum based linear inverted pendulum (ALIP) model from stationary to horizontally moving surfaces. The other novelty is the development of a discrete-time foot-placement controller that exponentially stabilizes the hybrid, linear, time-varying ALIP model. The middle layer of the proposed approach is a walking pattern generator that translates the desired global behaviors into the robot's full-body reference trajectories for all directly actuated degrees of freedom. The lowest layer is an input-output linearizing controller that exponentially tracks those full-body reference trajectories based on the full-order, hybrid, nonlinear robot dynamics. Simulations of planar underactuated bipedal walking on a swaying DRS confirm that the proposed framework ensures the walking stability under different DRS motions and gait types.

cs.RO↗

PIM-tree: A Skew-resistant Index for Processing-in-Memory

The performance of today's in-memory indexes is bottlenecked by the memory latency/bandwidth wall. Processing-in-memory (PIM) is an emerging approach that potentially mitigates this bottleneck, by enabling low-latency memory access whose aggregate memory bandwidth scales with the number of PIM nodes. There is an inherent tension, however, between minimizing inter-node communication and achieving load balance in PIM systems, in the presence of workload skew. This paper presents PIM-tree, an ordered index for PIM systems that achieves both low communication and high load balance, regardless of the degree of skew in the data and the queries. Our skew-resistant index is based on a novel division of labor between the multi-core host CPU and the PIM nodes, which leverages the strengths of each. We introduce push-pull search, which dynamically decides whether to push queries to a PIM-tree node (CPU -> PIM-node) or pull the node's keys back to the CPU (PIM-node -> CPU) based on workload skew. Combined with other PIM-friendly optimizations (shadow subtrees and chunked skip lists), our PIM-tree provides high-throughput, (guaranteed) low communication, and (guaranteed) high load balance, for batches of point queries, updates, and range scans. We implement the PIM-tree structure, in addition to prior proposed PIM indexes, on the latest PIM system from UPMEM, with 32 CPU cores and 2048 PIM nodes. On workloads with 500 million keys and batches of one million queries, the throughput using PIM-trees is up to 69.7x and 59.1x higher than the two best prior methods. As far as we know these are the first implementations of an ordered index on a real PIM system.

cs.DB↗

An indefinite-proximal-based strictly contractive Peaceman-Rachford splitting method

The Peaceman-Rachford splitting method is efficient for minimizing a convex optimization problem with a separable objective function and linear constraints. However, its convergence was not guaranteed without extra requirements. He {\it et al.} (SIAM J. Optim. 24: 1011 - 1040, 2014) proved the convergence of a strictly contractive Peaceman-Rachford splitting method by employing a suitable underdetermined relaxation factor. In this paper, we further extend the so-called strictly contractive Peaceman-Rachford splitting method by using two different relaxation factors. Besides, motivated by the recent advances on the ADMM type method with indefinite proximal terms, we employ the indefinite proximal term in the strictly contractive Peaceman-Rachford splitting method. We show that the proposed indefinite-proximal strictly contractive Peaceman-Rachford splitting method is convergent and also prove the $o(1/t)$ convergence rate in the nonergodic sense. The numerical tests on the $l_1$ regularized least square problem demonstrate the efficiency of the proposed method.

math.OC↗

Generalized gauge transformation with $PT$-symmetric non-unitary operator and classical correspondence of non-Hermitian Hamiltonian for a periodically driven system

We in this paper demonstrate that the $PT$-symmetric non-Hermitian Hamiltonian for a periodically driven system can be generated from a kernel Hamiltonian by a generalized gauge transformation. The kernel Hamiltonian is Hermitian and static, while the time-dependent transformation operator has to be $PT$ symmetric and non-unitary in general. Biorthogonal sets of eigenstates appear necessarily as a consequence of non-Hermitian Hamiltonian. We obtain analytically the wave functions and associated non-adiabatic Berry phase $γ_{n}$ for the $n$th eigenstate. The classical version of the non-Hermitian Hamiltonian becomes a complex function of canonical variables and time. The corresponding kernel Hamiltonian is derived with $PT$ symmetric canonical-variable transfer in the classical gauge transformation. Moreover, with the change of position-momentum to angle-action variables it is revealed that the non-adiabatic Hannay's angle $Δθ_{H}$ and Berry phase satisfy precisely the quantum-classical correspondence,$γ_{n}=$ $(n+1/2)Δθ_{H}$.

quant-ph↗

ParGeo: A Library for Parallel Computational Geometry

This paper presents ParGeo, a multicore library for computational geometry. ParGeo contains modules for fundamental tasks including $k$d-tree based spatial search, spatial graph generation, and algorithms in computational geometry. We focus on three new algorithmic contributions provided in the library. First, we present a new parallel convex hull algorithm based on a reservation technique to enable parallel modifications to the hull. We also provide the first parallel implementations of the randomized incremental convex hull algorithm as well as a divide-and-conquer convex hull algorithm in $\mathbb{R}^3$. Second, for the smallest enclosing ball problem, we propose a new sampling-based algorithm to quickly reduce the size of the data set. We also provide the first parallel implementation of Welzl's classic algorithm for smallest enclosing ball. Third, we present the BDL-tree, a parallel batch-dynamic $k$d-tree that allows for efficient parallel updates and $k$-NN queries over dynamically changing point sets. BDL-trees consist of a log-structured set of $k$d-trees which can be used to efficiently insert, delete, and query batches of points in parallel. On 36 cores with two-way hyper-threading, our fastest convex hull algorithm achieves up to 44.7x self-relative parallel speedup and up to 559x speedup against the best existing sequential implementation. Our smallest enclosing ball algorithm using our sampling-based algorithm achieves up to 27.1x self-relative parallel speedup and up to 178x speedup against the best existing sequential implementation. Our implementation of the BDL-tree achieves self-relative parallel speedup of up to 46.1x. Across all of the algorithms in ParGeo, we achieve self-relative parallel speedup of 8.1--46.61x.

cs.CG↗

Enriched physics-informed neural networks for in-plane crack problems: Theory and MATLAB codes

In this paper, a method based on the physics-informed neural networks (PINNs) is presented to model in-plane crack problems in the linear elastic fracture mechanics. Instead of forming a mesh, the PINNs is meshless and can be trained on batches of randomly sampled collocation points. In order to capture the theoretical singular behavior of the near-tip stress and strain fields, the standard PINNs formulation is enriched here by including the crack-tip asymptotic functions such that the singular solutions at the crack-tip region can be modeled accurately without a high degree of nodal refinement. The learnable parameters of the enriched PINNs are trained to satisfy the governing equations of the cracked body and the corresponding boundary conditions. It was found that the incorporation of the crack-tip enrichment functions in PINNs is substantially simpler and more trouble-free than in the finite element (FEM) or boundary element (BEM) methods. The present algorithm is tested on a class of representative benchmarks with different modes of loading types. Results show that the present method allows the calculation of accurate stress intensity factors (SIFs) with far fewer degrees of freedom. A self-contained MATLAB code and data-sets accompanying this manuscript are also provided.

cs.CE↗

Many Sequential Iterative Algorithms Can Be Parallel and (Nearly) Work-efficient

To design efficient parallel algorithms, some recent papers showed that many sequential iterative algorithms can be directly parallelized but there are still challenges in achieving work-efficiency and high-parallelism. Work-efficiency can be hard for certain problems where the number of dependences is asymptotically more than optimal sequential work bound. To achieve high-parallelism, we want to process as many objects as possible in parallel. The goal is to achieve $\tilde{O}(D)$ span for a problem with the deepest dependence length $D$. We refer to this property as round-efficiency. In this paper, we show work-efficient and round-efficient algorithms for a variety of classic problems and propose general approaches to do so. To efficiently parallelize many sequential iterative algorithms, we propose the phase-parallel framework. The framework assigns a rank to each object and processes them accordingly. All objects with the same rank can be processed in parallel. To enable work-efficiency and high parallelism, we use two types of general techniques. Type 1 algorithms aim to use range queries to extract all objects with the same rank, such that we avoid evaluating all the dependences. We discuss activity selection, unlimited knapsack, and more using Type 1 framework. Type 2 algorithms aim to wake up an object when the last object it depends on is finished. We discuss activity selection, longest increasing subsequence (LIS), and many other algorithms using Type 2 framework. All of our algorithms are (nearly) work-efficient and round-efficient. Many of them improve previous best bounds, and some of them are the first to achieve work-efficiency with round-efficiency. We also implement many of them. On inputs with reasonable dependence depth, our algorithms are highly parallelized and significantly outperform their sequential counterparts.

cs.DS↗

Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement

This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movement even in the presence of sensor misalignment and initial state estimation errors. The filter fuses the data returned by an inertial measurement unit (IMU) attached to the body (e.g., pelvis or chest) and a virtual measurement of zero stance-foot velocity (i.e., leg odometry). The key novelty of the proposed filter lies in that its process model meets the group affine property while the filter explicitly addresses the IMU placement error by formulating its stochastic process model as Brownian motions and incorporating the error in the leg odometry. Although the measurement model is imperfect (i.e., it does not possess an invariant observation form) and thus its linearization relies on the state estimate, experimental results demonstrate fast convergence of the proposed filter (within 0.2 seconds) during squatting motions even under significant IMU placement inaccuracy and initial estimation errors.

cs.RO↗

Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant extended Kalman filter that estimates the robot's pose and velocity during DRS locomotion by using common sensors of legged robots (e.g., inertial measurement units (IMU), joint encoders, and RDB-D camera). A key feature of the filter lies in that it explicitly addresses the nonstationary surface-foot contact point and the hybrid robot behaviors. Another key feature is that, in the absence of IMU biases, the filter satisfies the attractive group affine and invariant observation conditions, and is thus provably convergent for the deterministic continuous phases. The observability analysis is performed to reveal the effects of DRS movement on the state observability, and the convergence property of the hybrid, deterministic filter system is examined for the observable state variables. Experiments of a Digit humanoid robot walking on a pitching treadmill validate the effectiveness of the proposed filter under large estimation errors and moderate DRS movement. The video of the experiments can be found at: https://youtu.be/ScQIBFUSKzo.

cs.RO↗

Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment

Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors. In recent years, invariant extended Kalman filtering (InEKF) has shown a great potential in nonlinear state estimation, but its applications to human poses new challenges, including imperfect placement of wearable sensors and inaccurate measurement models. To address these challenges, this paper proposes an augmented InEKF design which considers the misalignment of the inertial sensor at the trunk as part of the states and preserves the group affine property for the process model. Personalized lower-extremity forward kinematic models are built and employed as the measurement model for the augmented InEKF. Observability analysis for the new InEKF design is presented. The filter is evaluated with three subjects in squatting, rolling-foot walking, and ladder-climbing motions. Experimental results validate the superior performance of the proposed InEKF over the state-of-the-art InEKF. Improved accuracy and faster convergence in estimating the velocity and orientation of human, in all three motions, are achieved despite the significant initial estimation errors and the uncertainties associated with the forward kinematic measurement model.

cs.RO↗

PaC-trees: Supporting Parallel and Compressed Purely-Functional Collections

Many modern programming languages are shifting toward a functional style for collection interfaces such as sets, maps, and sequences. Functional interfaces offer many advantages, including being safe for parallelism and providing simple and lightweight snapshots. However, existing high-performance functional interfaces such as PAM, which are based on balanced purely-functional trees, incur large space overheads for large-scale data analysis due to storing every element in a separate node in a tree. This paper presents PaC-trees, a purely-functional data structure supporting functional interfaces for sets, maps, and sequences that provides a significant reduction in space over existing approaches. A PaC-tree is a balanced binary search tree which blocks the leaves and compresses the blocks using arrays. We provide novel techniques for compressing and uncompressing the blocks which yield practical parallel functional algorithms for a broad set of operations on PaC-trees such as union, intersection, filter, reduction, and range queries which are both theoretically and practically efficient. Using PaC-trees we designed CPAM, a C++ library that implements the full functionality of PAM, while offering significant extra functionality for compression. CPAM consistently matches or outperforms PAM on a set of microbenchmarks on sets, maps, and sequences while using about a quarter of the space. On applications including inverted indices, 2D range queries, and 1D interval queries, CPAM is competitive with or faster than PAM, while using 2.1--7.8x less space. For static and streaming graph processing, CPAM offers 1.6x faster batch updates while using 1.3--2.6x less space than the state-of-the-art graph processing system Aspen.

cs.DS↗

ParChain: A Framework for Parallel Hierarchical Agglomerative Clustering using Nearest-Neighbor Chain

This paper studies the hierarchical clustering problem, where the goal is to produce a dendrogram that represents clusters at varying scales of a data set. We propose the ParChain framework for designing parallel hierarchical agglomerative clustering (HAC) algorithms, and using the framework we obtain novel parallel algorithms for the complete linkage, average linkage, and Ward's linkage criteria. Compared to most previous parallel HAC algorithms, which require quadratic memory, our new algorithms require only linear memory, and are scalable to large data sets. ParChain is based on our parallelization of the nearest-neighbor chain algorithm, and enables multiple clusters to be merged on every round. We introduce two key optimizations that are critical for efficiency: a range query optimization that reduces the number of distance computations required when finding nearest neighbors of clusters, and a caching optimization that stores a subset of previously computed distances, which are likely to be reused. Experimentally, we show that our highly-optimized implementations using 48 cores with two-way hyper-threading achieve 5.8--110.1x speedup over state-of-the-art parallel HAC algorithms and achieve 13.75--54.23x self-relative speedup. Compared to state-of-the-art algorithms, our algorithms require up to 237.3x less space. Our algorithms are able to scale to data set sizes with tens of millions of points, which existing algorithms are not able to handle.

cs.DS↗

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces

Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable dynamic model, this study theoretically extends the reduced-order linear inverted pendulum (LIP) model from legged locomotion on a stationary surface to locomotion on a dynamic rigid surface (DRS). The resulting model is herein termed as DRS-LIP. Furthermore, this study introduces an approximate analytical solution of the proposed DRS-LIP that is computationally efficient with high accuracy. To illustrate the practical uses of the analytical results, they are used to develop a hierarchical planning framework that efficiently generates physically feasible trajectories for DRS locomotion. The effectiveness of the proposed theoretical results and motion planner is demonstrated both through simulations and experimentally on a Laikago quadrupedal robot that walks on a rocking treadmill.

cs.RO↗

$PT$-symmetric non-Hermitian Hamiltonian and invariant operator in periodically driven $SU(1,1)$ system

We study in this paper the time evolution of $PT$-symmetric non-Hermitian Hamiltonian consisting of periodically driven $SU(1,1)$ generators. A non-Hermitian invariant operator is adopted to solve the Schrödinger equation, since the time-dependent Hamiltonian is no longer a conserved quantity. We propose a scheme to construct the non-Hermitian invariant with a $PT$-symmetric but non-unitary transformation operator. The eigenstates of invariant and its complex conjugate form a bi-orthogonal basis to formulate the exact solution. We obtain the non-adiabatic Berry phase, which reduces to the adiabatic one in the slow time-variation limit. A non-unitary time-evolution operator is found analytically. As an consequence of the non-unitarity the ket ($|ψ(t)\rangle $) and bra ($\langle ψ(t)|$) states are not normalized each other. While the inner product of two states can be evaluated with the help of a metric operator. It is shown explicitly that the model can be realized by a periodically driven oscillator.

quant-ph↗

Generalized Bell-like inequality and maximum violation for multiparticle entangled Schrödinger-cat-states of spin-s

This paper proposes a generalized Bell-like inequality (GBI) for multiparticle entangled Schrödinger-cat--states of arbitrary spin-$s$. Based on quantum probability statistics the GBI and violation are formulated in an unified manner with the help of state density operator, which can be separated to local and non-local parts. The local part gives rise to the inequality, while the non-local part is responsible for the violation. The GBI is not violated at all by quantum average except the spin-$1/2$ entangled states. If the measuring outcomes are restricted in the subspace of spin coherent state (SCS), namely, only the maximum spin values $\pm s$, the GBI is still meaningful for the incomplete measurement. With the help of SCS quantum probability statistics, it is proved that the violation of GBI can occur only for half-integer spins but not integer spins. Moreover, the maximum violation bound depends on the number parity of entangled particles, that it is $1/2$ for the odd particle-numbers while $1$ for even numbers.

quant-ph↗