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Zhu, B. (author), Hofstee, H.P. (author), Lee, Jinho (author), Al-Ars, Z. (author)Attention mechanism has been regarded as an advanced technique to capture long-range feature interactions and to boost the representation capability for convolutional neural networks. However, we found two ignored problems in current attentional activations-based models: the approximation problem and the insufficient capacity problem of the...conference paper 2021
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Zhu, H. (author), Chun, Jen Jen (author), Lawrance, Nicholas R.J. (author), Siegwart, Roland (author), Alonso-Mora, J. (author)This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed...conference paper 2021
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Ray, Aaron (author), Pierson, Alyssa (author), Zhu, H. (author), Alonso-Mora, J. (author), Rus, Daniela (author)We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a...conference paper 2021
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Zhang, Qingrui (author), Zhang, Xinyu (author), Zhu, Bo (author), Reppa, V. (author)A novel fault tolerant control algorithm is proposed in this paper based on model reference reinforcement learning for autonomous surface vehicles subject to sensor faults and model uncertainties. The proposed control scheme is a combination of a model-based control approach and a data-driven method, so it can leverage the advantages of both...conference paper 2021
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Zhang, Rongkai (author), Zhu, Jiang (author), Zha, Zhiyuan (author), Dauwels, J.H.G. (author), Wen, Bihan (author)State-of-the-art image denoisers exploit various types of deep neural networks via deterministic training. Alternatively, very recent works utilize deep reinforcement learning for restoring images with diverse or unknown corruptions. Though deep reinforcement learning can generate effective policy networks for operator selection or architecture...conference paper 2021
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Wang, X. (author), Feng, S. (author), Zhu, Jihua (author), Hasegawa-Johnson, Mark (author), Scharenborg, O.E. (author)This paper proposes a new model, referred to as the show and speak (SAS) model that, for the first time, is able to directly synthesize spoken descriptions of images, bypassing the need for any text or phonemes. The basic structure of SAS is an encoder-decoder architecture that takes an image as input and predicts the spectrogram of speech that...conference paper 2021
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Wang, X. (author), Tian, Tian (author), Zhu, Jihua (author), Scharenborg, O.E. (author)In the case of unwritten languages, acoustic models cannot be trained in the standard way, i.e., using speech and textual transcriptions. Recently, several methods have been proposed to learn speech representations using images, i.e., using visual grounding. Existing studies have focused on scene images. Here, we investigate whether fine...conference paper 2021
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Wang, X. (author), Qiao, T. (author), Zhu, Jihua (author), Hanjalic, A. (author), Scharenborg, O.E. (author)An estimated half of the world’s languages do not have a written form, making it impossible for these languages to benefit from any existing text-based technologies. In this paper, a speech-to-image generation (S2IG) framework is proposed which translates speech descriptions to photo-realistic images without using any text information, thus...conference paper 2020
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Polozov, Igor (author), Kantyukov, Artem (author), Popovich, V. (author), Zhu, Jia Ning (author), Popovich, Anatoly (author)Additive Manufacturing (AM) is an attractive way of producing parts of intermetallic titanium alloys. However, high brittleness of these alloys makes it challenging to produce crack-free intermetallic parts by AM. One way to overcome this problem is to use high-temperature powder-bed preheating. In this paper, Ti-48Al-2Cr-2Nb alloy was...conference paper 2020
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Zhu, Y. (author), Wang, H. (author), Goverde, R.M.P. (author)Real-time railway traffic management is important for the daily operations of railway systems. It predicts and resolves operational conflicts caused by events like excessive passenger boardings/alightings. Traditional optimization methods for this problem are restricted by the size of the problem instances. Therefore, this paper proposes a...conference paper 2020
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Dobbe, R.I.J. (author), Pu, Ye (author), Zhu, Jingge (author), Ramchandran, Kannan (author), Tomlin, Claire (author)Real-time data-driven optimization and control problems over networks, such as in traffic or energy systems, may require sensitive information of participating agents to calculate solutions and decision variables. Adversaries with access to coordination signals may potentially decode information on individual agents and put privacy at risk. We...conference paper 2020
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Serra Gomez, A. (author), Ferreira de Brito, B.F. (author), Zhu, H. (author), Chung, Jen Jen (author), Alonso-Mora, J. (author)Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex dynamic environments, the coordination boost allowed by communication is critical to avoid collisions...conference paper 2020
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Zhu, Q. (author), Zaidman, A.E. (author)Thanks to rapid advances in programmability and performance, GPUs have been widely applied in High Performance Computing (HPC) and safety-critical domains. As such, quality assurance of GPU applications has gained increasing attention. This brings us to mutation testing, a fault-based testing technique that assesses the test suite quality by...conference paper 2020
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Zhu, B. (author), Al-Ars, Z. (author), Hofstee, H.P. (author)Binary Convolutional Neural Networks (CNNs) have significantly reduced the number of arithmetic operations and the size of memory storage needed for CNNs, which makes their deployment on mobile and embedded systems more feasible. However, after binarization, the CNN architecture has to be redesigned and refined significantly due to two reasons:...conference paper 2020
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Lin, Jiahao (author), Zhu, H. (author), Alonso-Mora, J. (author)In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides the estimated position, velocity and size of the obstacles. Robust collision avoidance is achieved by...conference paper 2020
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Zhu, Y. (author), Goverde, R.M.P. (author)Unexpected disruptions occur frequently in railway systems, during which many train services cannot run as scheduled. This paper deals with timetable rescheduling during such disruptions, particularly in the case where all tracks between two stations are blocked for a few hours. In practice, the disruption length is uncertain, and a disruption...conference paper 2019
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Zhu, Fengji (author), Sun, L. (author), Zhu, K. (author), Jing, Liping (author)The educational space of Architecture faculty is used to cultivate architects. At the same time, it becomes the carrier of architectural ideas and teaching methods. The type of architecture and its spatial organization reflect the architectural education philosophy and attitude. Back in history, as early as the Renaissance, there had emerged...conference paper 2019
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Brownjohn, James (author), Raby, Alison (author), Au, Siu Kui (author), Zhu, Zuo (author), Wang, Xinrui (author), Antonini, A. (author)A set of seven rock lighthouses around the British Isles was studied by a combination of forced and ambient vibration tests executed with some extreme logistical constraints. Forced vibration testing of the circular section masonry towers combined with experimental modal analysis identified modes with alignment assumed the same as the shaker...conference paper 2019
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Zhu, H. (author), Alonso-Mora, J. (author)This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee...conference paper 2019
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Zhu, H. (author), Juhl, Jelle (author), Ferranti, L. (author), Alonso-Mora, J. (author)This paper presents a distributed method for splitting and merging of multi-robot formations in dynamic environments with static and moving obstacles. Splitting and merging actions rely on distributed consensus and can be performed to avoid obstacles. Our method accounts for the limited communication range and visibility radius of the robots...conference paper 2019