arXiv subjects

Yuhang Zhao

Publications and source records attributed to Yuhang Zhao.

At least 73 records · Page 4Linked to original sources

arXiv2023

Structure design and coordinated motion analysis of bionic crocodile robot

Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw inspiration from crocodiles and introduce a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints. This design is based on a comprehensive analysis of the structural and motion characteristics observed in real crocodiles. The bionic crocodile robot has the problem of limb-torso incoordination during movement, in order to solve this problem, we apply the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine. Through a series of simulation experiments, we investigate the robot's stability of motion, fault tolerance, and adaptability to the environment in two motor pattern: with and without the involvement of the spine and tail in its movements. Experiment results demonstrate that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities. This research not only showcases the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance our technological innovations.

cs.RO↗

arXiv2023

Characterizing Barriers and Technology Needs in the Kitchen for Blind and Low Vision People

Cooking is a vital yet challenging activity for people with visual impairments (PVI). It involves tasks that can be dangerous or difficult without vision, such as handling a knife or adding a suitable amount of salt. A better understanding of these challenges can inform the design of technologies that mitigate safety hazards and improve the quality of the lives of PVI. Furthermore, there is a need to understand the effects of different visual abilities, including low vision and blindness, and the role of rehabilitation training where PVI learn cooking skills and assistive technologies. In this paper, we aim to comprehensively characterize PVI's challenges, strategies, and needs in the kitchen from the perspectives of both PVI and rehabilitation professionals. Through a contextual inquiry study, we observed 10 PVI, including six low vision and four blind participants, when they cooked dishes of their choices in their own kitchens. We then interviewed six rehabilitation professionals to explore their training strategies and technology recommendations. Our findings revealed the differences between low vision and blind people during cooking as well as the gaps between training and reality. We suggest improvements for rehabilitation training and distill design considerations for future assistive technology in the kitchen.

cs.HC↗

arXiv2023

First eigenvalue of embedded minimal surfaces in $S^3$

We prove that for an embedded minimal surface $Σ$ in $S^3$, the first eigenvalue of the Laplacian operator $λ_1$ satisfies $λ_1\geq 1+ε_g$, where $ε_g>0$ is a constant depending only on the genus $g$ of $Σ$. This improves previous result of Choi-Wang.

math.DG↗

arXiv2023

Understanding How Low Vision People Read Using Eye Tracking

While being able to read with screen magnifiers, low vision people have slow and unpleasant reading experiences. Eye tracking has the potential to improve their experience by recognizing fine-grained gaze behaviors and providing more targeted enhancements. To inspire gaze-based low vision technology, we investigate the suitable method to collect low vision users' gaze data via commercial eye trackers and thoroughly explore their challenges in reading based on their gaze behaviors. With an improved calibration interface, we collected the gaze data of 20 low vision participants and 20 sighted controls who performed reading tasks on a computer screen; low vision participants were also asked to read with different screen magnifiers. We found that, with an accessible calibration interface and data collection method, commercial eye trackers can collect gaze data of comparable quality from low vision and sighted people. Our study identified low vision people's unique gaze patterns during reading, building upon which, we propose design implications for gaze-based low vision technology.

cs.HC↗

arXiv2022

Artificial Intelligence Security Competition (AISC)

The security of artificial intelligence (AI) is an important research area towards safe, reliable, and trustworthy AI systems. To accelerate the research on AI security, the Artificial Intelligence Security Competition (AISC) was organized by the Zhongguancun Laboratory, China Industrial Control Systems Cyber Emergency Response Team, Institute for Artificial Intelligence, Tsinghua University, and RealAI as part of the Zhongguancun International Frontier Technology Innovation Competition (https://www.zgc-aisc.com/en). The competition consists of three tracks, including Deepfake Security Competition, Autonomous Driving Security Competition, and Face Recognition Security Competition. This report will introduce the competition rules of these three tracks and the solutions of top-ranking teams in each track.

cs.CR↗

arXiv2022

"If sighted people know, I should be able to know:" Privacy Perceptions of Bystanders with Visual Impairments around Camera-based Technology

Camera-based technology can be privacy-invasive, especially for bystanders who can be captured by the cameras but do not have direct control or access to the devices. The privacy threats become even more significant to bystanders with visual impairments (BVI) since they cannot visually discover the use of cameras nearby and effectively avoid being captured. While some prior research has studied visually impaired people's privacy concerns as direct users of camera-based assistive technologies, no research has explored their unique privacy perceptions and needs as bystanders. We conducted an in-depth interview study with 16 visually impaired participants to understand BVI's privacy concerns, expectations, and needs in different camera usage scenarios. A preliminary survey with 90 visually impaired respondents and 96 sighted controls was conducted to compare BVI and sighted bystanders' general attitudes towards cameras and elicit camera usage scenarios for the interview study. Our research revealed BVI's unique privacy challenges and perceptions around cameras, highlighting their needs for privacy awareness and protection. We summarized design considerations for future privacy-enhancing technologies to fulfill BVI's privacy needs.

cs.HC↗

arXiv2022

"I was Confused by It; It was Confused by Me:" Exploring the Experiences of People with Visual Impairments around Mobile Service Robots

Mobile service robots have become increasingly ubiquitous. However, these robots can pose potential accessibility issues and safety concerns to people with visual impairments (PVI). We sought to explore the challenges faced by PVI around mainstream mobile service robots and identify their needs. Seventeen PVI were interviewed about their experiences with three emerging robots: vacuum robots, delivery robots, and drones. We comprehensively investigated PVI's robot experiences by considering their different roles around robots -- direct users and bystanders. Our study highlighted participants' challenges and concerns about the accessibility, safety, and privacy issues around mobile service robots. We found that the lack of accessible feedback made it difficult for PVI to precisely control, locate, and track the status of the robots. Moreover, encountering mobile robots as bystanders confused and even scared the participants, presenting safety and privacy barriers. We further distilled design considerations for more accessible and safe robots for PVI.

cs.HC↗

arXiv2022

VRBubble: Enhancing Peripheral Awareness of Avatars for People with Visual Impairments in Social Virtual Reality

Social Virtual Reality (VR) is growing for remote socialization and collaboration. However, current social VR applications are not accessible to people with visual impairments (PVI) due to their focus on visual experiences. We aim to facilitate social VR accessibility by enhancing PVI's peripheral awareness of surrounding avatar dynamics. We designed VRBubble, an audio-based VR technique that provides surrounding avatar information based on social distances. Based on Hall's proxemic theory, VRBubble divides the social space with three Bubbles -- Intimate, Conversation, and Social Bubble -- generating spatial audio feedback to distinguish avatars in different bubbles and provide suitable avatar information. We provide three audio alternatives: earcons, verbal notifications, and real-world sound effects. PVI can select and combine their preferred feedback alternatives for different avatars, bubbles, and social contexts. We evaluated VRBubble and an audio beacon baseline with 12 PVI in a navigation and a conversation context. We found that VRBubble significantly enhanced participants' avatar awareness during navigation and enabled avatar identification in both contexts. However, VRBubble was shown to be more distracting in crowded environments.

cs.HC↗

arXiv2022

"It's Just Part of Me:" Understanding Avatar Diversity and Self-presentation of People with Disabilities in Social Virtual Reality

In social Virtual Reality (VR), users are embodied in avatars and interact with other users in a face-to-face manner using avatars as the medium. With the advent of social VR, people with disabilities (PWD) have shown an increasing presence on this new social media. With their unique disability identity, it is not clear how PWD perceive their avatars and whether and how they prefer to disclose their disability when presenting themselves in social VR. We fill this gap by exploring PWD's avatar perception and disability disclosure preferences in social VR. Our study involved two steps. We first conducted a systematic review of fifteen popular social VR applications to evaluate their avatar diversity and accessibility support. We then conducted an in-depth interview study with 19 participants who had different disabilities to understand their avatar experiences. Our research revealed a number of disability disclosure preferences and strategies adopted by PWD (e.g., reflect selective disabilities, present a capable self). We also identified several challenges faced by PWD during their avatar customization process. We discuss the design implications to promote avatar accessibility and diversity for future social VR platforms.

cs.HC↗

arXiv2022

Boosting Adversarial Transferability of MLP-Mixer

The security of models based on new architectures such as MLP-Mixer and ViTs needs to be studied urgently. However, most of the current researches are mainly aimed at the adversarial attack against ViTs, and there is still relatively little adversarial work on MLP-mixer. We propose an adversarial attack method against MLP-Mixer called Maxwell's demon Attack (MA). MA breaks the channel-mixing and token-mixing mechanism of MLP-Mixer by controlling the part input of MLP-Mixer's each Mixer layer, and disturbs MLP-Mixer to obtain the main information of images. Our method can mask the part input of the Mixer layer, avoid overfitting of the adversarial examples to the source model, and improve the transferability of cross-architecture. Extensive experimental evaluation demonstrates the effectiveness and superior performance of the proposed MA. Our method can be easily combined with existing methods and can improve the transferability by up to 38.0% on MLP-based ResMLP. Adversarial examples produced by our method on MLP-Mixer are able to exceed the transferability of adversarial examples produced using DenseNet against CNNs. To the best of our knowledge, we are the first work to study adversarial transferability of MLP-Mixer.

cs.CV↗

arXiv2022

Improving the stability of frequency dependent squeezing with bichromatic control of filter cavity length, alignment and incident beam pointing

Frequency dependent squeezing is the main upgrade for achieving broadband quantum noise reduction in upcoming observation runs of gravitational wave detectors. The proper frequency dependence of the squeezed quadrature is obtained by reflecting squeezed vacuum from a Fabry-Perot filter cavity detuned by half of its linewidth. However, since the squeezed vacuum contains no classical amplitude, co-propagating auxiliary control beams are required to achieve the filter cavity's length, alignment, and incident beam pointing stability. In our frequency dependent squeezing experiment at the National Astronomical Observatory of Japan, we used a control beam at a harmonic of squeezed vacuum wavelength and found visible detuning variation related to the suspended mirrors angular drift. These variations can degrade interferometer quantum noise reduction. We investigated various mechanisms that can cause the filter cavity detuning variation. The detuning drift is found to be mitigated sufficiently by fixing the incident beam pointing and applying filter cavity automatic alignment. It was also found that there is an optimal position of the beam on the filter cavity mirror that helps to reduce the detuning fluctuations. Here we report a stabilized filter cavity detuning variation of less than 10$\,$Hz compared to the 113$\,$Hz cavity linewidth. Compared to previously published results [Phys. Rev. Lett. 124, 171101 (2020)], such detuning stability would be sufficient to make filter cavity detuning drift induced gravitational wave detector detection range fluctuation reduce from $11\%$ to within $2\%$.

physics.ins-det↗

arXiv2021

Investigation of crackling noise in the vibration isolation systems of the KAGRA gravitational wave detector

Gravitational wave detectors, such as KAGRA, require complex mirror suspension systems to reach high sensitivity. One particular concern in these suspensions is the presence of crackling noise, where motion of the steel crystal structure disturbs material defects, causing impulse force release and exciting mirror motion. Crackling in the Geometric Anti Spring filters (GAS) in KAGRA's suspension system could introduce noise in the gravitational wave detection band. We investigate crackling noise in a miniature GAS with a low-frequency cyclical stress. We developed a scaling law between miniature and KAGRA GAS. Applying experimental results to the scaling law allows us to estimate the upper limit of crackling noise in KAGRA. It is found that crackling noise should be below the target sensitivity for gravitational waves above 60 Hz.

physics.ins-det↗

arXiv2021

Communicating Visualizations without Visuals: Investigation of Visualization Alternative Text for People with Visual Impairments

Alternative text is critical in communicating graphics to people who are blind or have low vision. Especially for graphics that contain rich information, such as visualizations, poorly written or an absence of alternative texts can worsen the information access inequality for people with visual impairments. In this work, we consolidate existing guidelines and survey current practices to inspect to what extent current practices and recommendations are aligned. Then, to gain more insight into what people want in visualization alternative texts, we interviewed 22 people with visual impairments regarding their experience with visualizations and their information needs in alternative texts. The study findings suggest that participants actively try to construct an image of visualizations in their head while listening to alternative texts and wish to carry out visualization tasks (e.g., retrieve specific values) as sighted viewers would. The study also provides ample support for the need to reference the underlying data instead of visual elements to reduce users' cognitive burden. Informed by the study, we provide a set of recommendations to compose an informative alternative text.

cs.HC↗

arXiv2020

Control of a filter cavity with coherent control sidebands

For broadband quantum noise reduction of gravitational-wave detectors, frequency-dependent squeezed vacuum states realized using a filter cavity is a mature technique and will be implemented in Advanced LIGO and Advanced Virgo from the fourth observation run. To obtain the benefit of frequency-dependent squeezing, detuning and alignment of the filter cavity with respect to squeezed vacuum states must be controlled accurately. To this purpose, we suggest a new length and alignment control scheme, using coherent control sidebands which are already used to control the squeezing angle. Since both squeezed vacuum states and coherent control sidebands have the same mode matching conditions and almost the same frequency, detuning and alignment of the filter cavity can be controlled accurately with this scheme. In this paper, we show the principle of this scheme and its application to a gravitational-wave detector.

physics.ins-det↗

arXiv2020

Prospects for improving the sensitivity of the cryogenic gravitational wave detector KAGRA

Upgrades to improve the sensitivity of gravitational wave detectors enable more frequent detections and more precise source parameter estimation. Unlike other advanced interferometric detectors such as Advanced LIGO and Advanced Virgo, KAGRA requires different approach for the upgrade since it is the only detector which employs cryogenic cooling of the test masses. In this paper, we describe possible KAGRA upgrades with technologies focusing on different detector bands, and compare the impacts on the detection of compact binary coalescences. We show that either fivefold improvement in the $100 M_{\odot}$--$100 M_{\odot}$ binary black hole range, a factor of 1.3 improvement in the binary neutron star range, or a factor of 1.7 improvement in the sky localization of binary neutron stars is well feasible with upgrades that do not require changes in the existing cryogenic or vacuum infrastructure. We also show that twofold broadband sensitivity improvement is possible by applying multiple upgrades to the detector.

gr-qc↗

arXiv2020

Frequency-Dependent Squeezed Vacuum Source for Broadband Quantum Noise Reduction in Advanced Gravitational-Wave Detectors

The astrophysical reach of current and future ground-based gravitational-wave detectors is mostly limited by quantum noise, induced by vacuum fluctuations entering the detector output port. The replacement of this ordinary vacuum field with a squeezed vacuum field has proven to be an effective strategy to mitigate such quantum noise and it is currently used in advanced detectors. However, current squeezing cannot improve the noise across the whole spectrum because of the Heisenberg uncertainty principle: when shot noise at high frequencies is reduced, radiation pressure at low frequencies is increased. A broadband quantum noise reduction is possible by using a more complex squeezing source, obtained by reflecting the squeezed vacuum off a Fabry-Perot cavity, known as filter cavity. Here we report the first demonstration of a frequency-dependent squeezed vacuum source able to reduce quantum noise of advanced gravitational-wave detectors in their whole observation bandwidth. The experiment uses a suspended 300-m-long filter cavity, similar to the one planned for KAGRA, Advanced Virgo and Advanced LIGO, and capable of inducing a rotation of the squeezing ellipse below 100 Hz.

astro-ph.IM↗

arXiv2019

Fairness Issues in AI Systems that Augment Sensory Abilities

Systems that augment sensory abilities are increasingly employing AI and machine learning (ML) approaches, with applications ranging from object recognition and scene description tools for blind users to sound awareness tools for d/Deaf users. However, unlike many other AI-enabled technologies, these systems provide information that is already available to non-disabled people. In this paper, we discuss unique AI fairness challenges that arise in this context, including accessibility issues with data and models, ethical implications in deciding what sensory information to convey to the user, and privacy concerns both for the primary user and for others.

cs.CY↗

arXiv2019

Semantics-Preserving DPO-Based Term Graph Rewriting

Term graph rewriting is important as "conceptual implementation" of the execution of functional programs, and of data-flow optimisations in compilers. One way to define term graph transformation rule application is via the well-established and intuitively accessible double-pushout (DPO) approach; we present a new result proving semantics preservation for such DPO-based term graph rewriting.

cs.LO↗