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Cyclic arbitrage chances exist abundantly among decentralized exchanges (DEXs), like Uniswap V2. For an arbitrage cycle (loop), researchers or practitioners usually choose a specific token, such as Ether as input, and optimize their input amount to get the net maximal amount of the specific token as arbitrage profit. By considering the tokens' prices from CEXs in this paper, the new arbitrage profit, called monetized arbitrage profit, will be quantified as the product of the net number of a specific token we got from the arbitrage loop and its corresponding price in CEXs. Based on this concept, we put forward three different strategies to maximize the monetized arbitrage profit for each arbitrage loop. The first strategy is called the MaxPrice strategy. Under this strategy, arbitrageurs start arbitrage only from the token with the highest CEX price. The second strategy is called the MaxMax strategy. Under this strategy, we calculate the monetized arbitrage profit for each token as input in turn in the arbitrage loop. Then, we pick up the most maximal monetized arbitrage profit among them as the monetized arbitrage profit of the MaxMax strategy. The third one is called the Convex Optimization strategy. By mapping the MaxMax strategy to a convex optimization problem, we proved that the Convex Optimization strategy could get more profit in theory than the MaxMax strategy, which is proved again in a given example. We also proved that if no arbitrage profit exists according to the MaxMax strategy, then the Convex Optimization strategy can not detect any arbitrage profit, either. However, the empirical data analysis denotes that the profitability of the Convex Optimization strategy is almost equal to that of the MaxMax strategy, and the MaxPrice strategy is not reliable in getting the maximal monetized arbitrage profit compared to the MaxMax strategy.

In decentralized exchanges (DEXs), the arbitrage paths exist abundantly in the form of both arbitrage loops (e.g. the arbitrage path starts from token A and back to token A again in the end, A, B,..., A) and non-loops (e.g. the arbitrage path starts from token A and stops at a different token N, A, B,..., N). The Moore-Bellman-Ford algorithm, often coupled with the ``walk to the root" technique, is commonly employed for detecting arbitrage loops in the token graph of decentralized exchanges (DEXs) such as Uniswap. However, a limitation of this algorithm is its ability to recognize only a limited number of arbitrage loops in each run. Additionally, it cannot specify the starting token of the detected arbitrage loops, further constraining its effectiveness in certain scenarios. Another limitation of this algorithm is its incapacity to detect non-loop arbitrage paths between any specified pairs of tokens. In this paper, we develop a new method to solve these problems by combining the line graph and a modified Moore-Bellman-Ford algorithm (MMBF). This method can help to find more arbitrage loops by detecting at least one arbitrage loop starting from any specified tokens in the DEXs and can detect the non-loop arbitrage paths between any pair of tokens. Then, we applied our algorithm to Uniswap V2 and found more arbitrage loops and non-loops indeed compared with applying the Moore-Bellman-Ford (MBF) combined algorithm. The found arbitrage profit by our method in some arbitrage paths can be even as high as one million dollars, far larger than that found by the MBF combined algorithm. Finally, we statistically compare the distribution of arbitrage path lengths and the arbitrage profit detected by both our method and the MBF combined algorithm, and depict how potential arbitrage opportunities change with time by our method.

Since rainy weather always degrades image quality and poses significant challenges to most computer vision-based intelligent systems, image de-raining has been a hot research topic. Fortunately, in a rainy light field (LF) image, background obscured by rain streaks in one sub-view may be visible in the other sub-views, and implicit depth information and recorded 4D structural information may benefit rain streak detection and removal. However, existing LF image rain removal methods either do not fully exploit the global correlations of 4D LF data or only utilize partial sub-views, resulting in sub-optimal rain removal performance and no-equally good quality for all de-rained sub-views. In this paper, we propose an efficient network, called MDeRainNet, for rain streak removal from LF images. The proposed network adopts a multi-scale encoder-decoder architecture, which directly works on Macro-pixel images (MPIs) to improve the rain removal performance. To fully model the global correlation between the spatial and the angular information, we propose an Extended Spatial-Angular Interaction (ESAI) module to merge them, in which a simple and effective Transformer-based Spatial-Angular Interaction Attention (SAIA) block is also proposed for modeling long-range geometric correlations and making full use of the angular information. Furthermore, to improve the generalization performance of our network on real-world rainy scenes, we propose a novel semi-supervised learning framework for our MDeRainNet, which utilizes multi-level KL loss to bridge the domain gap between features of synthetic and real-world rain streaks and introduces colored-residue image guided contrastive regularization to reconstruct rain-free images. Extensive experiments conducted on synthetic and real-world LFIs demonstrate that our method outperforms the state-of-the-art methods both quantitatively and qualitatively., Comment: 13 pages, 13 figures, 4 tables

In this paper we investigate the rigidity property of a wave component coupled in a wave-Klein-Gordon system. We prove that when the radiation field of the wave component vanishes at the null infinity, the initial data of this component also vanish, therefor there is no wave in the whole spacetime, Comment: 29 pages

V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy, often overlooking the systematic improvement of accident prediction accuracy through end-to-end learning, leading to insufficient attention to the safety issues of autonomous driving. To address this challenge, this paper introduces the UniE2EV2X framework, a V2X-integrated end-to-end autonomous driving system that consolidates key driving modules within a unified network. The framework employs a deformable attention-based data fusion strategy, effectively facilitating cooperation between vehicles and infrastructure. The main advantages include: 1) significantly enhancing agents' perception and motion prediction capabilities, thereby improving the accuracy of accident predictions; 2) ensuring high reliability in the data fusion process; 3) superior end-to-end perception compared to modular approaches. Furthermore, We implement the UniE2EV2X framework on the challenging DeepAccident, a simulation dataset designed for V2X cooperative driving.

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and cascaded design technique, eliminating the need for derivative information to improve the real time performance. Then, a kinematic tracking control method is developed utilizing a bioinspired neural dynamic-based approach aimed at providing smooth control inputs and effectively resolving the speed jump issue. Furthermore, to address the challenges for robots operating with completely unknown dynamics and disturbances, a learning-based robust dynamic controller is developed. This controller provides real time parameter estimates while maintaining its robustness against disturbances. The overall stability of the proposed method is proved with rigorous mathematical analysis. At last, multiple comprehensive simulation studies have shown the advantages and effectiveness of the proposed method., Comment: This paper is accepted by IEEE Transactions on Intelligent Vehicles

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based Motion Statistics) with RANSAC (Random Sample Consensus) for the removal of mismatched features. The approach first utilizes the GMS algorithm to estimate the quantity of matched pairs within the neighborhood and ranks the matches based on their confidence. Subsequently, the Random Sample Consensus (RANSAC) algorithm is employed to further eliminate mismatched features. To address the time-consuming issue of randomly selecting all matched pairs, this method transforms it into the problem of prioritizing sample selection from high-confidence matches. This enables the iterative solution of the optimal model. Experimental results demonstrate that the proposed method achieves a comparable accuracy to the original GMS-RANSAC while reducing the average runtime by 24.13% on the KITTI, TUM desk, and TUM doll datasets.

Feature matching is a fundamental and crucial process in visual SLAM, and precision has always been a challenging issue in feature matching. In this paper, based on a multi-level fine matching strategy, we propose a new feature matching method called KTGP-ORB. This method utilizes the similarity of local appearance in the Hamming space generated by feature descriptors to establish initial correspondences. It combines the constraint of local image motion smoothness, uses the GMS algorithm to enhance the accuracy of initial matches, and finally employs the PROSAC algorithm to optimize matches, achieving precise matching based on global grayscale information in Euclidean space. Experimental results demonstrate that the KTGP-ORB method reduces the error by an average of 29.92% compared to the ORB algorithm in complex scenes with illumination variations and blur.

To address the issue of increased triangulation uncertainty caused by selecting views with small camera baselines in Structure from Motion (SFM) view selection, this paper proposes a robust error-resistant view selection method. The method utilizes a triangulation-based computation to obtain an error-resistant model, which is then used to construct an error-resistant matrix. The sorting results of each row in the error-resistant matrix determine the candidate view set for each view. By traversing the candidate view sets of all views and completing the missing views based on the error-resistant matrix, the integrity of 3D reconstruction is ensured. Experimental comparisons between this method and the exhaustive method with the highest accuracy in the COLMAP program are conducted in terms of average reprojection error and absolute trajectory error in the reconstruction results. The proposed method demonstrates an average reduction of 29.40% in reprojection error accuracy and 5.07% in absolute trajectory error on the TUM dataset and DTU dataset.

Ethereum 2.0, as the preeminent smart contract blockchain platform, guarantees the precise execution of applications without third-party intervention. At its core, this system leverages the Proof-of-Stake (PoS) consensus mechanism, which utilizes a stochastic process to select validators for block proposal and validation, consequently rewarding them for their contributions. However, the implementation of blockchain technology often diverges from its central tenet of decentralized consensus, presenting significant analytical challenges. Our study collects consensus reward data from the Ethereum Beacon chain and conducts a comprehensive analysis of reward distribution and evolution, categorizing them into attestation, proposer and sync committee rewards. To evaluate the degree of decentralization in PoS Ethereum, we apply several inequality indices, including the Shannon entropy, the Gini Index, the Nakamoto Coefficient, and the Herfindahl-Hirschman Index (HHI). Our comprehensive dataset is publicly available on Harvard Dataverse, and our analytical methodologies are accessible via GitHub, promoting open-access research. Additionally, we provide insights on utilizing our data for future investigations focused on assessing, augmenting, and refining the decentralization, security, and efficiency of blockchain systems.

To address the issue of feature descriptors being ineffective in representing grayscale feature information when images undergo high affine transformations, leading to a rapid decline in feature matching accuracy, this paper proposes a region feature descriptor based on simulating affine transformations using classification. The proposed method initially categorizes images with different affine degrees to simulate affine transformations and generate a new set of images. Subsequently, it calculates neighborhood information for feature points on this new image set. Finally, the descriptor is generated by combining the grayscale histogram of the maximum stable extremal region to which the feature point belongs and the normalized position relative to the grayscale centroid of the feature point's region. Experimental results, comparing feature matching metrics under affine transformation scenarios, demonstrate that the proposed descriptor exhibits higher precision and robustness compared to existing classical descriptors. Additionally, it shows robustness when integrated with other descriptors.

The images captured by Wireless Capsule Endoscopy (WCE) always exhibit specular reflections, and removing highlights while preserving the color and texture in the region remains a challenge. To address this issue, this paper proposes a highlight removal method for capsule endoscopy images. Firstly, the confidence and feature terms of the highlight region's edges are computed, where confidence is obtained by the ratio of known pixels in the RGB space's R channel to the B channel within a window centered on the highlight region's edge pixel, and feature terms are acquired by multiplying the gradient vector of the highlight region's edge pixel with the iso-intensity line. Subsequently, the confidence and feature terms are assigned different weights and summed to obtain the priority of all highlight region's edge pixels, and the pixel with the highest priority is identified. Then, the variance of the highlight region's edge pixels is used to adjust the size of the sample block window, and the best-matching block is searched in the known region based on the RGB color similarity and distance between the sample block and the window centered on the pixel with the highest priority. Finally, the pixels in the best-matching block are copied to the highest priority highlight removal region to achieve the goal of removing the highlight region. Experimental results demonstrate that the proposed method effectively removes highlights from WCE images, with a lower coefficient of variation in the highlight removal region compared to the Crinimisi algorithm and DeepGin method. Additionally, the color and texture in the highlight removal region are similar to those in the surrounding areas, and the texture is continuous.

Liquid staking has become the largest category of decentralized finance protocols in terms of total value locked. However, few studies exist on its implementation designs or underlying risks. The liquid staking protocols allow for earning staking rewards without the disadvantage of locking the capital at the validators. Yet, they are seen by some as a threat to the Proof-of-Stake blockchain security. This paper is the first work that classifies liquid staking implementations. It analyzes the historical performance of major liquid staking tokens in comparison to the traditional staking for the largest Proof-of-Stake blockchains. Furthermore, the research investigates the impact of centralization, maximum extractable value and the migration of Ethereum from Proof-of-Work to Proof-of-Stake on the tokens' performance. Examining the tracking error of the liquid stacking providers to the staking rewards shows that they are persistent and cannot be explained by macro-variables of the currency, such as the variance or return.

Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal coordination protocol and a robust controller, which adopts a hierarchical architecture. On the top layer, the spherical coordinate transform is introduced to tackle the nonholonomic constraint, and then a distributed optimal motion coordination strategy is developed. As a result, the optimal formation tracking of UUVs fleet can be achieved, and the constraints are fulfilled. To realize the generated optimal commands better and, meanwhile, deal with the underactuation, at the lower-level control loop a neurodynamics based robust backstepping controller is designed, and in particular, the issue of "explosion of terms" appearing in conventional backstepping based controllers is avoided and control activities are improved. The stability of the overall UUVs formation system is established to ensure that all the states of the UUVs are uniformly ultimately bounded in the presence of unknown disturbances. Finally, extensive simulation comparisons are made to illustrate the superiority and effectiveness of the derived optimal formation tracking protocol., Comment: This paper is accepted by IEEE Transactions on Cybernetics

This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the modeling mismatch, oceanic disturbances, and noises. Towards this end, graph theory is used to allow us to synthesize the distributed controller with a stability guarantee. Due to the fact that the parameter uncertainties only arise in the vessels' dynamic model, the backstepping control technique is then employed. Subsequently, to overcome the difficulties in handling time-varying and unknown systems, an online learning procedure is developed in the proposed distributed formation control protocol. Moreover, modeling errors, environmental disturbances, and measurement noises are considered and tackled by introducing a neurodynamics model in the controller design to obtain a robust solution. Then, the stability analysis of the overall closed-loop system under the proposed scheme is provided to ensure the robust adaptive performance at the theoretical level. Finally, extensive simulation experiments are conducted to further verify the efficacy of the presented distributed control protocol.

This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower itself and its neighbors. Then, we propose a bioinspired neural dynamic based backstepping and sliding mode control hybrid formation control method with proof of its stability. The proposed control strategy resolves the impractical speed jump issue that exists in the conventional backstepping design. Additionally, considering the system and measurement noises, the proposed control strategy not only removes the chattering issue existing in the conventional sliding mode control but also provides smooth control input with extra robustness. After that, an adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates that are robust to modeling uncertainties. Finally, we performed multiple simulations to demonstrate the efficiency and effectiveness of the proposed formation control strategy.

Proxy applications (proxy-apps) are basic tools for evaluating the performance of specific workloads on high-performance computing (HPC) systems.Since the development of high-fidelity proxy-apps, which exhibit similar performance characteristics as corresponding production applications, is labor-intensive, synthetic proxy-apps are created as a useful supplement to manually developed proxy-apps. To thoroughly resemble performance characteristics of HPC applications represented by Message Passing Interface (MPI) programs, we propose Siesta, a novel framework to automatically synthesize proxy-apps based on communication-computation traces. Given an MPI program, Siesta synthesizes parameterized code snippets to mimic computation behaviors in different execution periods, and combines the code snippets and MPI function records into an event trace. It then extracts program behavior patterns from the trace as grammars, and finally transforms the grammars into a synthetic proxy-app. We evaluate the proposed methods on representative MPI programs with various environments. The results show that our synthetic proxy-apps can precisely approximate the performance characteristics of MPI programs.

In this paper we consider the holographic DC and Hall conductivity in Einstein-Maxwell-Dilaton in Gauss-Bonnet gravity with momentum dissipation. We analytically derived the DC conductivity and Hall conductivity from the black horizon data, and found that the conductivities are independent on the Gauss-Bonnet coupling. We also used the entropy function formalism to get the conductivities in terms of the charge of the black hole, even without knowing the explicit black hole solutions., Comment: 15 pages

Electroencephalography (EEG) analysis extracts critical information from brain signals, which has provided fundamental support for various applications, including brain-disease diagnosis and brain-computer interface. However, the real-time processing of large-scale EEG signals at high energy efficiency has placed great challenges for electronic processors on edge computing devices. Here, we propose the EEG opto-processor based on diffractive photonic computing units (DPUs) to effectively process the extracranial and intracranial EEG signals and perform epileptic seizure detection. The signals of EEG channels within a second-time window are optically encoded as inputs to the constructed diffractive neural networks for classification, which monitors the brain state to determine whether it's the symptom of an epileptic seizure or not. We developed both the free-space and integrated DPUs as edge computing systems and demonstrated their applications for real-time epileptic seizure detection with the benchmark datasets, i.e., the CHB-MIT extracranial EEG dataset and Epilepsy-iEEG-Multicenter intracranial EEG dataset, at high computing performance. Along with the channel selection mechanism, both the numerical evaluations and experimental results validated the sufficient high classification accuracies of the proposed opto-processors for supervising the clinical diagnosis. Our work opens up a new research direction of utilizing photonic computing techniques for processing large-scale EEG signals in promoting its broader applications., Comment: 22 pages, 5 figures