Single image 3D reconstruction based on control point grid

In order to construct 3D meshes from a single image quickly and intuitively, this paper presents a 3D reconstruction method based on control point grid. The key idea is to calculate the 2D control point grid of the target area and elevate each control point according to a parameterized 3D growing rule proposed from prior knowledge. First, the contour of the target object is divided into a major component and side components and the skeleton of each component is extracted. 2D control point grid is calculated combining the curvature and geometric feature of the contour and lifted into 3D space with corresponding height defined by parameter mapping. Finally, a complete 3D model is obtained after component combination and texturing. Experimental results show that this method can reasonably and efficiently recover the 3D shape of the target object while maintaining fine curvature and geometric features.     

Tradeoffs between energy consumption and QoS in mobile grid

Mobile grid, which combines grid and mobile computing, supports mobile users and resources in a seamless and transparent way. However, mobility, QoS support, energy management, and service provisioning pose challenges to mobile grid. The paper presents a tradeoff policy between energy consumption and QoS in the mobile grid environment. Utility function is used to specify each QoS dimension; we formulate the problem of energy and QoS tradeoff by utility optimization. The work is different from the classical energy aware scheduling, which usually takes the consumed energy as the constraints; our utility model regards consumed energy as one of the components of measure of the utility values, which indicates the tradeoff of application satisfaction and consumed energy. It is a more accurate utility model for abstracting the energy characteristics and QoS requirement for mobile users and resources in mobile grid. The paper also proposes a distributed energy–QoS tradeoff algorithm. The performance evaluation of our energy–QoS tradeoff algorithm is evaluated and compared with other energy and deadline constrained scheduling algorithm.     

Adaptive popularity-driven replica placement in hierarchical data grids

Data grids support access to widely distributed storage for large numbers of users accessing potentially many large files. Efficient access is hindered by the high latency of the Internet. To improve access time, replication at nearby sites may be used. Replication also provides high availability, decreased bandwidth use, enhanced fault tolerance, and improved scalability. Resource availability, network latency, and user requests in a grid environment may vary with time. Any replica placement strategy must be able to adapt to such dynamic behavior. In this paper, we describe a new dynamic replica placement algorithm, Popularity Based Replica Placement (PBRP), for hierarchical data grids which is guided by file “popularity”. Our goal is to place replicas close to clients to reduce data access time while still using network and storage resources efficiently. The effectiveness of PBRP depends on the selection of a threshold value related to file popularity. We also present Adaptive-PBRP (APBRP) that determines this threshold dynamically based on data request arrival rates. We evaluate both algorithms using simulation. Results for a range of data access patterns show that our algorithms can shorten job execution time significantly and reduce bandwidth consumption compared to other dynamic replication methods.     

Fuzzy predictive control based multiple models strategy for a tubular heat exchanger system

This work deals with the problem of controlling the outlet temperature of a tubular heat exchanger system by means of flow pressure. The usual industrial case is to try to control the outlet temperature by either the temperature or the flow of the fluid, which flows through the shell tube. But, in some situations, this is not possible, due to the fact that the whole of system coefficients variation cannot quite be covered by control action. In this case, the system behavior must precisely be modeled and appropriate control action needs to be obtained based on novel techniques. A new multiple models control strategy using the well-known linear generalized predictive control (LGPC) scheme has been proposed, in this paper. The main idea of the proposed control strategy is to represent the operating environments of the system, which have a wide range of variation with respect to time by multiple explicit linear models. In this strategy, the best model of the system is accurately identified, at each instant of time, by an intelligent decision mechanism (IDM), which is organized based on both new recursive weight generator and fuzzy adaptive Kalman filter approaches. After that, the adaptive algorithm is implemented on the chosen model. Finally, for having a good tracking performance, the generalized predictive control is instantly updated and its control action is also applied to the system. For demonstrating the effectiveness of the proposed approach, simulations are all done and the results are also compared with those obtained using a nonlinear GPC (NLGPC) approach that is realized based on the Wiener model of the system. The results can verify the validity of the proposed control scheme.     

Adaptive workload allocation in query processing in autonomous heterogeneous environments

The increasing prevalence of networked storage and computational resources, along with middleware for managing resource access and sharing, raises the prospect that queries can be run over resources obtained on demand, rather than on dedicated infrastructures. However, the movement of query processing into non-dedicated environments means that it is necessary to take account of the partial information and unstable conditions that characterise autonomous, shared, distributed settings. Thus, query processing on grid platforms needs to be adaptive, revising evaluation strategies at query runtime in response to the evolving environment, such as changes to machine load and availability. To address this challenge, adaptive techniques are described that: (i) balance load across plan partitions supporting intra-operator parallelism; (ii) remove bottlenecks in pipelined plans supporting inter-operator parallelism; and (iii) combine the two aforementioned techniques. The approach has been empirically evaluated in a grid-enabled adaptive query processor.     

Embedding fault-free cycles in crossed cubes with conditional link faults

The crossed cube, which is a variation of the hypercube, possesses some properties that are superior to those of the hypercube. In this paper, we show that with the assumption of each node incident with at least two fault-free links, an n-dimensional crossed cube with up to 2n−5 link faults can embed, with dilation one, fault-free cycles of lengths ranging from 4 to 2 ⁿ . The assumption is meaningful, for its occurrence probability is very close to 1, and the result is optimal with respect to the number of link faults tolerated. Consequently, it is very probable that algorithms executable on rings of lengths ranging from 4 to 2 ⁿ can be applied to an n-dimensional crossed cube with up to 2n−5 link faults.

Adaptive statistical scheduling of divisible workloads in heterogeneous systems

This article presents a statistical approach to the scheduling of divisible workloads. Structured as a task farm with different scheduling modes including adaptive single and multi-round scheduling, this novel divisible load theory approach comprises two phases, calibration and execution, which dynamically adapt the installment size and number. It introduces the concept of a generic installment factor based on the statistical dispersion of the calibration times of the participating nodes, which allows automatic determination of the number and size of the workload installments. Initially, the calibration ranks processors according to their fitness and determines an installment factor based on how different their execution times are. Subsequently, the execution iteratively distributes the workload according to the processor fitness, which is continuously re-assessed throughout the program execution. Programmed as an adaptive algorithmic skeleton, our task farm has been successfully evaluated for single-round scheduling and generic multi-round scheduling using a computational biology parameter-sweep in a non-dedicated multi-cluster system.     

Efficient integration of fine-grained access control and resource brokering in grid

In this paper, we present a novel resource brokering service for grid systems which considers authorization policies of the grid nodes in the process of selecting the resources to be assigned to a request. We argue such an integration is needed to avoid scheduling requests onto resources the policies of which do not authorize their execution. Our service, implemented in Globus as a part of Monitoring and Discovery Service (MDS), is based on the concept of fine-grained access control (FGAC) which enables participating grid nodes to specify fine-grained policies concerning the conditions under which grid clients can access their resources. Since the process of evaluating authorization policies, in addition to checking the resource requirements, can be a potential bottleneck for a large scale grid, we also analyze the problem of the efficient evaluation of FGAC policies. In this context, we present GroupByRule, a novel method for policy organization and compare its performance with other strategies.

A message passing strategy for array redistributions in a torus network

The array redistribution problem occurs in many important applications in parallel computing. In this paper, we consider this problem in a torus network. Tori are preferred to other multidimensional networks (like hypercubes) due to their better scalability (IEE Trans. Parallel Distrib. Syst. 50(10), 1201–1218, [2001]). We present a message combining approach that splits any array redistribution problem in a series of broadcasts where all sources send messages of the same size, thus a balanced traffic load is achieved. Unlike existing array redistribution algorithms, the scheme introduced in this work eliminates the need for data reorganization in the memory of the source and target processors. Moreover, the processing of the scheduled broadcasts is pipelined, thus the total cost of redistribution is reduced.

Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change

In this paper, we present a biomimetic approach which is based on Central Pattern Generator (CPG) to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom. A new network with a feedback connection is proposed, which can generate uniform outputs without any additional adjustment. The relations between the CPG parameters and the characteristics of output are also investigated. A simulation platform is also established for the analysis of the CPG-based locomotion control of a snake-like robot. To figure out adaptive creeping locomotion of the robot to the environment with changed friction or the given slope, the relations of CPG parameters and locomotion efficiency by the proposed curvature adaptive principle have been discussed.     

A market-oriented hierarchical scheduling strategy in cloud workflow systems

A cloud workflow system is a type of platform service which facilitates the automation of distributed applications based on the novel cloud infrastructure. One of the most important aspects which differentiate a cloud workflow system from its other counterparts is the market-oriented business model. This is a significant innovation which brings many challenges to conventional workflow scheduling strategies. To investigate such an issue, this paper proposes a market-oriented hierarchical scheduling strategy in cloud workflow systems. Specifically, the service-level scheduling deals with the Task-to-Service assignment where tasks of individual workflow instances are mapped to cloud services in the global cloud markets based on their functional and non-functional QoS requirements; the task-level scheduling deals with the optimisation of the Task-to-VM (virtual machine) assignment in local cloud data centres where the overall running cost of cloud workflow systems will be minimised given the satisfaction of QoS constraints for individual tasks. Based on our hierarchical scheduling strategy, a package based random scheduling algorithm is presented as the candidate service-level scheduling algorithm and three representative metaheuristic based scheduling algorithms including genetic algorithm (GA), ant colony optimisation (ACO), and particle swarm optimisation (PSO) are adapted, implemented and analysed as the candidate task-level scheduling algorithms. The hierarchical scheduling strategy is being implemented in our SwinDeW-C cloud workflow system and demonstrating satisfactory performance. Meanwhile, the experimental results show that the overall performance of ACO based scheduling algorithm is better than others on three basic measurements: the optimisation rate on makespan, the optimisation rate on cost and the CPU time.     

Simulating 2D Waves Propagation in Elastic Solid Media Using Wavelet Based Adaptive Method

In this study, an improved wavelet-based adaptive-grid method is presented for solving the second order hyperbolic Partial Differential Equations (PDEs) for describing the waves propagation in elastic solid media. In this method, the multiresolution adaptive threshold-based approach is incorporated with smoothing splines as denoiser of spurious oscillations. This smoothing method is fast, stable, less sensitive to noise, and directly applicable to unequally sampled data. However, the conventional methods can not be directly applied to estimate the smoothing parameters; therefore the optimum ranges are captured through trial-and-error efforts. Here, the spatial derivatives are directly calculated in a non-uniform grid by Fornberg fast method. The derivatives are calculated in 2D simulations, applying antisymmetric end padding method to minimize Gibb’s phenomenon, caused by the edge effects. Therefore, stable moving front is achieved. In the realistic source modeling, time dependent thresholding method, introduced here, is an efficient and cost effective adaptive scheme as well. Furthermore, level-dependent thresholding scheme is used to diminish the effects of non-physical long period waves reflected by absorbing boundaries. Finally, several 2D finite, infinite and semi-infinite numerical examples are simulated. These examples have fixed, free and absorbing boundary conditions. Here, the robustness of proposed method is demonstrated.     

Adaptive Multiresolution Methods for the Simulation of Waves in Excitable Media

We present fully adaptive multiresolution methods for a class of spatially two-dimensional reaction-diffusion systems which describe excitable media and often give rise to the formation of spiral waves. A novel model ingredient is a strongly degenerate diffusion term that controls the degree of spatial coherence and serves as a mechanism for obtaining sharper wave fronts. The multiresolution method is formulated on the basis of two alternative reference schemes, namely a classical finite volume method, and Barkley’s approach (Barkley in Phys. D 49:61–70, 1991), which consists in separating the computation of the nonlinear reaction terms from that of the piecewise linear diffusion. The proposed methods are enhanced with local time stepping to attain local adaptivity both in space and time. The computational efficiency and the numerical precision of our methods are assessed. Results illustrate that the fully adaptive methods provide stable approximations and substantial savings in memory storage and CPU time while preserving the accuracy of the discretizations on the corresponding finest uniform grid.     

A dynamic data replication strategy using access-weights in data grids

Data grids deal with a huge amount of data regularly. It is a fundamental challenge to ensure efficient accesses to such widely distributed data sets. Creating replicas to a suitable site by data replication strategy can increase the system performance. It shortens the data access time and reduces bandwidth consumption. In this paper, a dynamic data replication mechanism called Latest Access Largest Weight (LALW) is proposed. LALW selects a popular file for replication and calculates a suitable number of copies and grid sites for replication. By associating a different weight to each historical data access record, the importance of each record is differentiated. A more recent data access record has a larger weight. It indicates that the record is more pertinent to the current situation of data access. A Grid simulator, OptorSim, is used to evaluate the performance of this dynamic replication strategy. The simulation results show that LALW successfully increases the effective network usage. It means that the LALW replication strategy can find out a popular file and replicates it to a suitable site without increasing the network burden too much.

Adaptive behaviors of reactive mobile robot with Bayesian inference in nonstationary environments

This paper presents a technique for a reactive mobile robot to adaptively behave in unforeseen and dynamic circumstances. A robot in nonstationary environments needs to infer how to adaptively behave to the changing environment. Behavior-based approach manages the interactions between the robot and its environment for generating behaviors, but in spite of its strengths of fast response, it has not been applied much to more complex problems for high-level behaviors. For that reason many researchers employ a behavior-based deliberative architecture. This paper proposes a 2-layer control architecture for generating adaptive behaviors to perceive and avoid moving obstacles as well as stationary obstacles. The first layer is to generate reflexive and autonomous behaviors with behavior network, and the second layer is to infer dynamic situations of the mobile robot with Bayesian network. These two levels facilitate a tight integration between high-level inference and low-level behaviors. Experimental results with various simulations and a real robot have shown that the robot reaches the goal points while avoiding stationary or moving obstacles with the proposed architecture.     

A dynamic holding strategy in public transit systems with real-time information

Holding strategies are among the most commonly used operation control strategies in transit systems. In this paper, a dynamic holding strategy is developed, which consists of two major steps: (1) judging whether an early bus should be held, and (2) optimizing the holding times of the held bus. A model based on support vector machine (SVM), which contains four input variables (time-of-day, segment, the latest speed on the next segment, and the bus speed on the current segment) for forecasting the early bus departure times from the next stop is also developed. Then, in order to determine the optimal holding times, a model aiming to minimize the user costs is constructed and a genetic algorithm is used to optimize the holding times. Finally, the dynamic holding strategy proposed in this study is illustrated with the microscopic simulation model Paramics and some conclusions are drawn.

Service selection in stochastic environments: a learning-automaton based solution

In this paper, we propose a novel solution to the problem of identifying services of high quality. The reported solutions to this problem have, in one way or the other, resorted to using so-called “Reputation Systems” (RSs). Although these systems can offer generic recommendations by aggregating user-provided opinions about the quality of the services under consideration, they are, understandably, prone to “ballot stuffing” and “badmouthing” in a competitive marketplace. In general, unfair ratings may degrade the trustworthiness of RSs, and additionally, changes in the quality of service, over time, can render previous ratings unreliable. As opposed to the reported solutions, in this paper, we propose to solve the problem using tools provided by Learning Automata (LA), which have proven properties capable of learning the optimal action when operating in unknown stochastic environments. Furthermore, they combine rapid and accurate convergence with low computational complexity. In addition to its computational simplicity, unlike most reported approaches, our scheme does not require prior knowledge of the degree of any of the above mentioned problems associated with RSs. Instead, it gradually learns the identity and characteristics of the users which provide fair ratings, and of those who provide unfair ratings, even when these are a consequence of them making unintentional mistakes.     

A Discontinuous Galerkin Scheme based on a Space-Time Expansion II. Viscous Flow Equations in Multi Dimensions

In part I of these two papers we introduced for inviscid flow in one space dimension a discontinuous Galerkin scheme of arbitrary order of accuracy in space and time. In the second part we extend the scheme to the compressible Navier-Stokes equations in multi dimensions. It is based on a space-time Taylor expansion at the old time level in which all time or mixed space-time derivatives are replaced by space derivatives using the Cauchy-Kovalevskaya procedure. The surface and volume integrals in the variational formulation are approximated by Gaussian quadrature with the values of the space-time approximate solution. The numerical fluxes at grid cell interfaces are based on the approximate solution of generalized Riemann problems for both, the inviscid and viscous part. The presented scheme has to satisfy a stability restriction similar to all other explicit DG schemes which becomes more restrictive for higher orders. The loss of efficiency, especially in the case of strongly varying sizes of grid cells is circumvented by use of different time steps in different grid cells. The presented time accurate numerical simulations run with local time steps adopted to the local stability restriction in each grid cell. In numerical simulations for the two-dimensional compressible Navier-Stokes equations we show the efficiency and the optimal order of convergence being p+1, when a polynomial approximation of degree p is used.     

Fault detection in autonomous robots based on fault injection and learning

In this paper, we study a new approach to fault detection for autonomous robots. Our hypothesis is that hardware faults change the flow of sensory data and the actions performed by the control program. By detecting these changes, the presence of faults can be inferred. In order to test our hypothesis, we collect data from three different tasks performed by real robots. During a number of training runs, we record sensory data from the robots while they are operating normally and after a fault has been injected. We use back-propagation neural networks to synthesize fault detection components based on the data collected in the training runs. We evaluate the performance of the trained fault detectors in terms of number of false positives and time it takes to detect a fault. The results show that good fault detectors can be obtained. We extend the set of possible faults and go on to show that a single fault detector can be trained to detect several faults in both a robot’s sensors and actuators. We show that fault detectors can be synthesized that are robust to variations in the task, and we show how a fault detector can be trained to allow one robot to detect faults that occur in another robot.

Hybrid online–offline learning to rank using simulated annealing strategy based on dependent click model

Knowledge and Information Systems - Learning to rank (LTR) is the process of constructing a model for ranking documents or objects. It is useful for many applications such as Information retrieval...