arXiv subjects

Zongyu Zuo

Publications and source records attributed to Zongyu Zuo.

7 recordsLinked to original sources

arXiv2026

BioHuman: Learning Biomechanical Human Representations from Video

Understanding human motion beyond surface kinematics is crucial for motion analysis, rehabilitation, and injury risk assessment. However, progress in this domain is limited by the lack of large-scale datasets with biomechanical annotations, and by existing approaches that cannot directly infer internal biomechanical states from visual observations. In this paper, we introduce a simulation-based framework for estimating muscle activations from existing motion capture datasets, resulting in BioHuman10M, a large-scale dataset with synchronized video, motion, and activations. Building on BioHuman10M, we propose BioHuman, an end-to-end model that takes monocular video as input and jointly predicts human motion and muscle activations, effectively bridging visual observations and internal biomechanical states. Extensive experiments demonstrate that BioHuman enables accurate reconstruction of both kinematic motion and muscle activity, and generalizes across diverse subjects and motions. We believe our approach establishes a new benchmark for video-based biomechanical understanding and opens up new possibilities for physically grounded human modeling.

cs.CV↗

arXiv2026

Constrained finite-time stabilization by model predictive control: an infinite control horizon framework

Existing results on finite-time model predictive control (MPC) often rely on terminal equality constraint, switching inside one-step region, or terminal cost with short control horizon, leading to limited initial feasibility. This paper proposes an infinite-horizon Model Predictive Control (MPC) framework for the constrained finite-time stabilization of discrete-time systems, overcoming limitations found in existing finite-time MPC results. The proposed framework is built upon a terminal cost strategy, but expands it by replacing the short-horizon terminal cost with the sum of stage costs over an infinite control horizon. This design choice significantly enlarges the initial feasibility region and avoids the need for terminal equality constraints or switching strategies during implementation. It is proved that the proposed finite-time MPC guarantees finite-time stabilization performance once the state trajectory enters the predefined terminal set. The infinite-horizon finite-time MPC is shown to be equivalently implementable as a finite-horizon MPC with a terminal cost, thereby ensuring computational tractability. The proposed finite-time MPC is systematically extended and shown to be applicable to both constrained multi-input linear systems and a class of constrained nonlinear systems that are feedback linearizable.

eess.SY↗

arXiv2025

PETGraphDB: A Property Evolution Temporal Graph Data Management System

Temporal graphs are graphs whose nodes and edges, together with their associated properties, continuously change over time. With the development of Internet of Things (IoT) systems, a subclass of the temporal graph, i.e., Property Evolution Temporal Graph, in which the value of properties on nodes or edges changes frequently while the graph's topology barely changes, is growing rapidly. However, existing temporal graph management solutions are not oriented to the Property Evolution Temporal Graph data, which leads to highly complex data modeling and low-performance query processing of temporal graph queries. To solve these problems, we developed PETGraph, a data management system for Property Evolution Temporal Graph data. PETGraph adopts a valid-time temporal property graph data model to facilitate data modeling, supporting ACID features with transactions. To improve temporal graph query performance, we designed a space-efficient temporal property storage and a fine-granularity multi-level locking mechanism. Experimental results show that PETGraph requires, on average, only 33% of the storage space needed by the current best data management solution. Additionally, it achieves an average of 58.8 times higher transaction throughput in HTAP workloads compared to the best current solutions and outperforms them by an average of 267 times in query latency.

cs.DB↗

arXiv2025

Prescribed-Time Boresight Control of Spacecraft Under Pointing Constraints

This article proposes an integrated boresight guidance and control (IBGC) scheme to address the boresight reorientation problem of spacecraft under temporal and pointing constraints. A $C^1$ continuous, saturated prescribed-time adjustment (PPTA) function is presented, along with the establishment of a practical prescribed-time stability criterion. Utilizing the time scale transformation technique and the PPTA function, we propose a prescribed-time guidance law that guides the boresight vector from almost any initial orientation in free space to a small neighborhood of the goal orientation within a preassigned time, while avoiding all forbidden zones augmented with safety margins. Subsequently, a prescribed-time disturbance observer (PTDO) is derived to reconstruct the external disturbances. By leveraging barrier and PPTA functions, a PTDO-based reduced-attitude tracking controller is developed, which ensures prescribed-time boresight tracking within a ``safe tube''. By judiciously setting the safety margins, settling times, and safe tube for the guidance and control laws, the proposed IBGC scheme achieves pointing-constrained boresight reorientation within a required task completion time. Simulation and experimental results demonstrate the efficacy of the proposed IBGC scheme.

eess.SY↗

arXiv2023

Non-singular Cooperative Guiding Vector Field Under a Homotopy Equivalence Transformation

The present article advances the concept of a non-singular cooperative guiding vector field under a homotopy equivalence transformation. Firstly, the derivation of a guiding vector field, based on a non-singular vector field, is elaborated to navigate a transformed path from another frame. The existence of such vector fields is also deliberated herein. Subsequently, a coordination vector field derived from the guiding vector field is presented, incorporating an in-depth analysis concerning the impact of the vector field parameters. Lastly, the practical implementation of this novel vector field is demonstrated by its applications to 2-D and 3-D cooperative moving path following issues, establishing its efficacy.

eess.SY↗

arXiv2023

A Frequency-Domain Path-Following Method for Discrete Data-Based Paths

This paper presents a novel frequency-domain approach for path following problem, specifically designed to handle paths described by discrete data. The proposed algorithm utilizes the fast Fourier Transform (FFT) to process the discrete path data, enabling the construction of a non-singular guiding vector field. This vector field serves as a reference direction for the controlled robot, offering the ability to adapt to different levels of precision. Additionally, the frequency-domain nature of the vector field allows for the reduction of computational complexity and effective noise suppression. The efficacy of the proposed approach is demonstrated through a numerical simulation, and theoretical analysis provides an upper bound for the ultimate mean-square path-following error.

eess.SY↗

arXiv2023

Robust consensus control of second-order uncertain multiagent systems with velocity and input constraints (extended version)

In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent uncertainties, and lack of neighboring velocity measurements are proposed. Furthermore, we show that the proposed method can be applied to the consensus control of uncertain robotic manipulators with velocity and control torque constraints. We rigorously prove that the velocity and control inputs stay within prespecified ranges by tuning design parameters a priori and that asymptotic consensus can be achieved through Lyapunov functions and fixed-time stability. Simulations are performed for symmetric and asymmetric constraints to show the efficiency of the theoretical findings.

eess.SY↗