National University of Defense Technology

About: National University of Defense Technology is a education organization based out in Changsha, China. It is known for research contribution in the topics: Computer science & Radar. The organization has 39430 authors who have published 40181 publications receiving 358979 citations. The organization is also known as: Guófáng Kēxuéjìshù Dàxué & NUDT.

Adaptive Visual Servoing Using Point and Line Features With an Uncalibrated Eye-in-Hand Camera

Abstract: This paper presents a novel approach for image-based visual servoing of a robot manipulator with an eye-in-hand camera when the camera parameters are not calibrated and the 3-D coordinates of the features are not known. Both point and line features are considered. This paper extends the concept of depth-independent interaction (or image Jacobian) matrix, developed in earlier work for visual servoing using point features and fixed cameras, to the problem using eye-in-hand cameras and point and line features. By using the depth-independent interaction matrix, it is possible to linearly parameterize, by the unknown camera parameters and the unknown coordinates of the features, the closed-loop dynamics of the system. A new algorithm is developed to estimate unknown parameters online by combining the Slotine-Li method with the idea of structure from motion in computer vision. By minimizing the errors between the real and estimated projections of the feature on multiple images captured during motion of the robot, this new adaptive algorithm can guarantee the convergence of the estimated parameters to the real values up to a scale. On the basis of the nonlinear robot dynamics, we proved asymptotic convergence of the image errors by the Lyapunov theory. Experiments have been conducted to demonstrate the performance of the proposed controller.

Plasmonic Refractive Index Sensor with High Figure of Merit Based on Concentric-Rings Resonator.

Abstract: A plasmonic refractive index (RI) sensor based on metal-insulator-metal (MIM) waveguide coupled with concentric double rings resonator (CDRR) is proposed and investigated numerically. Utilizing the novel supermodes of the CDRR, the FWHM of the resonant wavelength can be modulated, and a sensitivity of 1060 nm/RIU with high figure of merit (FOM) 203.8 is realized in the near-infrared region. The unordinary modes, as well as the influence of structure parameters on the sensing performance, are also discussed. Such plasmonic sensor with simple framework and high optical resolution could be applied to on-chip sensing systems and integrated optical circuits. Besides, the special cases of bio-sensing and triple rings are also discussed.

Spatial–Spectral Total Variation Regularized Low-Rank Tensor Decomposition for Hyperspectral Image Denoising

Abstract: Several bandwise total variation (TV) regularized low-rank (LR)-based models have been proposed to remove mixed noise in hyperspectral images (HSIs). These methods convert high-dimensional HSI data into 2-D data based on LR matrix factorization. This strategy introduces the loss of useful multiway structure information. Moreover, these bandwise TV-based methods exploit the spatial information in a separate manner. To cope with these problems, we propose a spatial–spectral TV regularized LR tensor factorization (SSTV-LRTF) method to remove mixed noise in HSIs. From one aspect, the hyperspectral data are assumed to lie in an LR tensor, which can exploit the inherent tensorial structure of hyperspectral data. The LRTF-based method can effectively separate the LR clean image from sparse noise. From another aspect, HSIs are assumed to be piecewisely smooth in the spatial domain. The TV regularization is effective in preserving the spatial piecewise smoothness and removing Gaussian noise. These facts inspire the integration of the LRTF with TV regularization. To address the limitations of bandwise TV, we use the SSTV regularization to simultaneously consider local spatial structure and spectral correlation of neighboring bands. Both simulated and real data experiments demonstrate that the proposed SSTV-LRTF method achieves superior performance for HSI mixed-noise removal, as compared to the state-of-the-art TV regularized and LR-based methods.

LAG: Lazily Aggregated Gradient for Communication-Efficient Distributed Learning

Abstract: This paper presents a new class of gradient methods for distributed machine learning that adaptively skip the gradient calculations to learn with reduced communication and computation. Simple rules are designed to detect slowly-varying gradients and, therefore, trigger the reuse of outdated gradients. The resultant gradient-based algorithms are termed Lazily Aggregated Gradient --- justifying our acronym LAG used henceforth. Theoretically, the merits of this contribution are: i) the convergence rate is the same as batch gradient descent in strongly-convex, convex, and nonconvex cases; and, ii) if the distributed datasets are heterogeneous (quantified by certain measurable constants), the communication rounds needed to achieve a targeted accuracy are reduced thanks to the adaptive reuse of lagged gradients. Numerical experiments on both synthetic and real data corroborate a significant communication reduction compared to alternatives.