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294 results on '"Chen, Yongbo"'

1. Increasing SLAM Pose Accuracy by Ground-to-Satellite Image Registration

Author

Zhang, Yanhao, Shi, Yujiao, Wang, Shan, Vora, Ankit, Perincherry, Akhil, Chen, Yongbo, and Li, Hongdong

Subjects
Computer Science - Robotics
Abstract

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to error accumulation, visual SLAM (vSLAM) usually suffers from long-term drift. This paper proposes a framework to increase the localization accuracy by fusing the vSLAM with a deep-learning-based ground-to-satellite (G2S) image registration method. In this framework, a coarse (spatial correlation bound check) to fine (visual odometry consistency check) method is designed to select the valid G2S prediction. The selected prediction is then fused with the SLAM measurement by solving a scaled pose graph problem. To further increase the localization accuracy, we provide an iterative trajectory fusion pipeline. The proposed framework is evaluated on two well-known autonomous driving datasets, and the results demonstrate the accuracy and robustness in terms of vehicle localization., Comment: 7 pages, 6 figures, to be published in 2024 International Conference on Robotics and Automation (ICRA)

Published
2024

8. Automatic Detection of Breaking Strong Encapsulation in Java Modules

Author

Chen, Yongbo

Subjects
Computer science
Abstract

Starting from JDK 9, the Java Platform Module System (JPMS) was introduced to facilitate resolving the monolithic ball-of-mud architecture of the original JDK by offering architectural modules in the Java language that provide various benefits for Java projects, especially in terms of protecting its internals from dangerous static or dynamic usage. However, a recent study has shown evidence that many existing projects bypass Java module boundaries to access internal APIs which, in turn, break the strong encapsulation (BSE) of Java modules. BSE leads to exceptions, errors, and other maintenance issues for Java systems. To address BSE, we propose a detection tool, BEAD, that leverages static analysis to identify BSE abuse instances within Java projects and evaluate BEAD on open-source Java projects. Our analysis revealed that JDK modules are designed with strong encapsulation principles, but BEAD detected numerous abuse instances, predominantly at compile-time, indicating prevalent unauthorized access to internal packages. Besides, our analysis found evidence of a correlation between the detected abuse instances and reported GitHub issues, validating the ecosystem impact of those detected abuse instances. Our findings demonstrate BEAD's effectiveness of detection capabilities in terms of BSE problem.

Published
2024

19. Waves Generated by the Horizontal Motions of a Bottom Disturbance.

Author

Chen, Yongbo, Hayatdavoodi, Masoud, Zhao, Binbin, and Ertekin, R. Cengiz

Subjects
NONLINEAR waves, GEOMETRIC shapes, OCEAN bottom, TSUNAMIS, EQUATIONS
Abstract

Waves generated by a horizontally moving disturbance on the seabed have been studied by developing two numerical models, namely, the Navier–Stokes and the Green–Naghdi equations. Various geometries of the bottom disturbances are considered, and waves generated due to a single motion and multiple oscillatory motions of the bottom disturbances are investigated by the two models. Discussion is provided on how the motion of the disturbance on the seafloor results in the generation of surface waves. The wave-field parameters investigated include the surface elevation, velocity, pressure fields and wave celerity. A parametric study is conducted to assess the effect of the geometry of the disturbance and the kinematic characteristics on the wave generation. It is shown that both linear and nonlinear waves can be generated by a horizontally moving disturbance on the seabed. Long waves, followed by a series of dispersive waves, are produced by the single motion of the bottom disturbance. It is also found that, under appropriate conditions, there would be a balance between nonlinearity and dispersion, such that the generated waves propagate over a flat seafloor with little to no change in their form and shape. [ABSTRACT FROM AUTHOR]

Published
2024
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24. Indoor Navigation System Using the Fetch Robot

Author

Zhu, Huishen, Leighton, Brenton, Chen, Yongbo, Ke, Xijun, Liu, Songtao, Zhao, Liang, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Yu, Haibin, editor, Liu, Jinguo, editor, Liu, Lianqing, editor, Ju, Zhaojie, editor, Liu, Yuwang, editor, and Zhou, Dalin, editor

Published
2019
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28. Effects of Polyunsaturated Fatty Acid Serum Levels on Vascular Dementia: A Two-Sample Mendelian Randomization Study.

Author

Chen, Shanshan, Cong, Ruyi, Chen, Yongbo, Li, Xiaoliang, Zhang, Xiaoyu, Wang, Guohua, Pang, Xiuyu, Xing, Weijia, Wang, Youxin, and Xu, Xizhu

Subjects
UNSATURATED fatty acids, VASCULAR dementia, GENOME-wide association studies, OMEGA-6 fatty acids, OMEGA-3 fatty acids
Abstract

Introduction: Several observational studies have indicated that polyunsaturated fatty acid serum levels (PUFAs) are associated with vascular dementia (VaD), but their causal relationships remain elusive. Therefore, we attempted to evaluate the causal effect of PUFAs on VaD in a two-sample Mendelian randomization (MR) analysis by using summary statistics from aggregated genome-wide association studies. Methods: The inverse-variance weighted (IVW) method was performed as the primary analysis. Sensitivity analyses (MR‐Egger regression, weighted median, penalized weighted median, and MR pleiotropy residual sum and outlier methods) were also implemented to estimate the effects of potential violations of MR hypotheses. Results: No causality was found for PUFAs (odds ratio, 1.14; 95% confidence interval, 0.91–1.42; p = 0.25) on VaD in the IVW model. The results were consistent in sensitivity analyses. There was no notable horizontal pleiotropy or heterogeneity. Conclusion: In this two-sample MR analysis, our findings did not support the assumption that PUFAs play causal role in the occurrence or development of VaD. [ABSTRACT FROM AUTHOR]

Published
2024
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