PI-BA Bundle Adjustment Acceleration on Embedded FPGAs with Co-observation Optimization

Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation etc. Essentially, BA is a joint non-linear optimization problem, and one which can consume a significant amount of time and power, especially for large optimization problems. Previous approaches of optimizing BA performance heavily rely on parallel processing or distributed computing, which trade higher power consumption for higher performance. In this paper we propose {\pi}-BA, the first hardware-software co-designed BA engine on an embedded FPGA-SoC that exploits custom hardware for higher performance and power efficiency. Specifically, based on our key observation that not all points appear on all images in a BA problem, we designed and implemented a Co-Observation Optimization technique to accelerate BA operations with optimized usage of memory and computation resources. Experimental results confirm that {\pi}-BA outperforms the existing software implementations in terms of performance and power consumption.Comment: in Proceedings of IEEE FCCM 201

Temperature Dependence of the Effective Bag Constant and the Radius of a Nucleon in the Global Color Symmetry Model of QCD

We study the temperature dependence of the effective bag constant, the mass, and the radius of a nucleon in the formalism of the simple global color symmetry model in the Dyson-Schwinger equation approach of QCD with a Gaussian-type effective gluon propagator. We obtain that, as the temperature is lower than a critical value, the effective bag constant and the mass decrease and the radius increases with the temperature increasing. As the critical temperature is reached, the effective bag constant and the mass vanish and the radius tends to infinity. At the same time, the chiral quark condensate disappears. These phenomena indicate that the deconfinement and the chiral symmetry restoration phase transitions can take place at high temperature. The dependence of the critical temperature on the interaction strength parameter in the effective gluon propagator of the approach is given.Comment: 10 pages, 9 figure

Event-Triggered Algorithms for Leader-Follower Consensus of Networked Euler-Lagrange Agents

This paper proposes three different distributed event-triggered control algorithms to achieve leader-follower consensus for a network of Euler-Lagrange agents. We firstly propose two model-independent algorithms for a subclass of Euler-Lagrange agents without the vector of gravitational potential forces. By model-independent, we mean that each agent can execute its algorithm with no knowledge of the agent self-dynamics. A variable-gain algorithm is employed when the sensing graph is undirected; algorithm parameters are selected in a fully distributed manner with much greater flexibility compared to all previous work concerning event-triggered consensus problems. When the sensing graph is directed, a constant-gain algorithm is employed. The control gains must be centrally designed to exceed several lower bounding inequalities which require limited knowledge of bounds on the matrices describing the agent dynamics, bounds on network topology information and bounds on the initial conditions. When the Euler-Lagrange agents have dynamics which include the vector of gravitational potential forces, an adaptive algorithm is proposed which requires more information about the agent dynamics but can estimate uncertain agent parameters. For each algorithm, a trigger function is proposed to govern the event update times. At each event, the controller is updated, which ensures that the control input is piecewise constant and saves energy resources. We analyse each controllers and trigger function and exclude Zeno behaviour. Extensive simulations show 1) the advantages of our proposed trigger function as compared to those in existing literature, and 2) the effectiveness of our proposed controllers.Comment: Extended manuscript of journal submission, containing omitted proofs and simulation

Multifractal analysis of weighted networks by a modified sandbox algorithm

Complex networks have attracted growing attention in many fields. As a generalization of fractal analysis, multifractal analysis (MFA) is a useful way to systematically describe the spatial heterogeneity of both theoretical and experimental fractal patterns. Some algorithms for MFA of unweighted complex networks have been proposed in the past a few years, including the sandbox (SB) algorithm recently employed by our group. In this paper, a modified SB algorithm (we call it SBw algorithm) is proposed for MFA of weighted networks.First, we use the SBw algorithm to study the multifractal property of two families of weighted fractal networks (WFNs): "Sierpinski" WFNs and "Cantor dust" WFNs. We also discuss how the fractal dimension and generalized fractal dimensions change with the edge-weights of the WFN. From the comparison between the theoretical and numerical fractal dimensions of these networks, we can find that the proposed SBw algorithm is efficient and feasible for MFA of weighted networks. Then, we apply the SBw algorithm to study multifractal properties of some real weighted networks ---collaboration networks. It is found that the multifractality exists in these weighted networks, and is affected by their edge-weights.Comment: 15 pages, 6 figures. Accepted for publication by Scientific Report

Symmetry Reduction and Boundary Modes for Fe-Chains on an s-wave Superconductor

We investigate the superconducting phase diagram and boundary modes for a quasi-1D system formed by three Fe-Chains on an s-wave superconductor, motivated by the recent Princeton experiment. The $\vec l\cdot\vec s$ onsite spin-orbit term, inter-chain diagonal hopping couplings, and magnetic disorders in the Fe-chains are shown to be crucial for the superconducting phases, which can be topologically trivial or nontrivial in different parameter regimes. For the topological regime a single Majorana and multiple Andreew bound modes are obtained in the ends of the chain, while for the trivial phase only low-energy Andreev bound states survive. Nontrivial symmetry reduction mechanism induced by the $\vec l\cdot\vec s$ term, diagonal hopping couplings, and magnetic disorder is uncovered to interpret the present results. Our study also implies that the zero-bias peak observed in the recent experiment may or may not reflect the Majorana zero modes in the end of the Fe-chains.Comment: 5 pages, 4 figures; some minor errors are correcte

Incentivizing High-quality Content from Heterogeneous Users: On the Existence of Nash Equilibrium

We study the existence of pure Nash equilibrium (PNE) for the mechanisms used in Internet services (e.g., online reviews and question-answer websites) to incentivize users to generate high-quality content. Most existing work assumes that users are homogeneous and have the same ability. However, real-world users are heterogeneous and their abilities can be very different from each other due to their diverse background, culture, and profession. In this work, we consider heterogeneous users with the following framework: (1) the users are heterogeneous and each of them has a private type indicating the best quality of the content she can generate; (2) there is a fixed amount of reward to allocate to the participated users. Under this framework, we study the existence of pure Nash equilibrium of several mechanisms composed by different allocation rules, action spaces, and information settings. We prove the existence of PNE for some mechanisms and the non-existence of PNE for some mechanisms. We also discuss how to find a PNE for those mechanisms with PNE either through a constructive way or a search algorithm