无人机集群编队自组网可靠性评估

针对无人机集群编队自组网的可靠性评估问题,考虑无人机集群编队在执行任务时对信息交互的时效性需求,提出一种自组网可靠性评估方案.首先,分析消息传输的可用时间;其次,通过排队论建立消息传输延迟模型以计算消息传输所需时间;然后,以消息传输所需时间小于可用时间的概率作为评估指标建立消息传输可靠性计算模型,进而为无人机集群编队提供一个动态可靠性评估框架以适应集群编队体系配置和环境变化的随机性与时变特性;最后,仿真分析在不同传输任务需求下,编队构型、无人机数量、编队缩放因子、传输速率、信息交互强度以及环境干扰对消息传输可靠性的影响.仿真结果可以为集群编队的队形设计以及集群编队的体系配置提供一定参考依据.     

开销敏感的多处理器最优节能实时调度算法

嵌入式多处理器系统的能耗问题变得日益重要,如何减少能耗同时满足实时约束成为多处理器系统节能实时调度中的一个重要问题.目前绝大多数研究基于关键速度降低处理器的频率以减少动态能耗,采用关闭处理器的方法减少静态能耗.虽然这种方法可以实现节能,但是不能保证最小化能耗.而现有最优的节能实时调度未考虑处理器状态切换的时间和能量开销,因此在切换开销不可忽视的实际平台中不再是最优的.文中针对具有独立动态电压频率调节和动态功耗管理功能的多处理器系统,考虑处理器切换开销,提出一种基于帧任务模型的最优节能实时调度算法.该算法根据关键速度来判断系统负载情况,确定具有最低能耗值的活跃处理器个数,然后根据状态切换开销来确定最优调度序列.该算法允许实时任务在处理器之间任意迁移,计算复杂度小,易于实现.数学分析证明了该算法的最优性.     

图形处理器通用计算关键技术研究综述

当前图形处理器的通用计算取得长足发展,为适应通用计算图形处理器在硬件体系结构和软件支持方面完成相应调整和改变,面对各种应用领域中数据规模增大的趋势,多GPU系统和GPU集群的研究应用日趋增多.以流处理器及图形处理器硬件体系为依据,介绍学术和工业领域中流处理器及图形处理器体系变化趋势.从软件编程环境、硬件计算与通信等方面展开讨论,阐述通用计算中图形处理器的关键问题,包括编程模型及语言的发展和方向,存储模型的量化研究、访存模式和行为的优化以及分布式存储管理的热点问题,典型通信原型系统的对比及通信难点的分析,GPU片内和片间的负载均衡,可靠性和容错计算,GPU功耗评测及低功耗优化的研究进展.综述在海量数据处理、智能计算、复杂网络、集群应用领域中图形处理器的研究进展及成果.总结在通用计算发展中存在的技术问题和未来挑战.     

基于语义分割与深度估计的行车环境实时解析

道路行车环境的实时解析是智能驾驶的关键技术,尽管神经网络在实现语义分割和深度估计上能取得不错的精度,但由于模型参数多、计算量大等问题,导致难以实现实时计算。针对该问题,提出了一个轻量化、高效的特征提取模块和一个综合考虑语义信息和深度信息的特征解码模块,在一个网络中同时完成语义分割和深度估计两个任务。在CityScapes数据集中,语义分割预测结果的mIOU为65.0%、深度估计结果的误差为0.21,并且在单个GPU上推断速度达到了65FPS,满足实时性要求。     

GPU-CPU集群上的动态规划算法

随着GPU的飞速发展,利用GPU进行图形计算之外的高性能计算已经成为一个研究热点.由此提出,将GPU作为协处理器,插入通用计算节点,构建GPU-CPU集群系统,使用相应的分块算法,把计算矩阵分块,然后采用:function offoad编程模型,将动态规划算法映射到CPU上进行加速计算.实验证明,利用该系统对动态规划算法进行优化,获得了很好的性能提高和加速比.     

基于OpenCL的实时KD-Tree与动态场景光线跟踪

目前,基于GPU或多核CPU加速的光线跟踪算法是与硬件相关的.研究具有跨平台性能的实时光线跟踪算法既具有挑战性,又具有很强的应用价值.为此,提出一种基于OpenCL并且跨平台的动态场景实时光线跟踪绘制算法.首先通过对通用GPU并行处理性能进行发掘,将光线跟踪中KD-Tree建立、场景遍历和绘制3个过程均设计在GPU上,而CPU只负责其中各过程的调度,从而充分利用了GPU的计算性能,并有效地降低了数据传输开销;通过设计并行分区、并行SAH、紧密的数据管理以及区间性叶结点存储等算法,在GPU中高效、高质量地建立动态场景的KD-Tree,同时高质量的KD-Tree也有效地加速了场景的遍历速度.该算法以广度优先和大规模并行模式建立K D-Tree,更具通用性,既可以运行于NVIDIA GPU(CUDA GPU),也可以运行于AMD GPU.实验结果表明,文中算法可以在NVIDIA GPU和AMD GPU上对中等规模的动态场景实现实时光线跟踪绘制.     

异构GPU集群的任务调度方法研究及实现

GPU集群已经成为高性能计算的重要方式,特别对于计算密集型应用,具有成本低、性能高、功耗小的优势.为了解决GPU集群系统运行中的任务负载均衡问题,文中提出了一种面向计算密集型应用的异构GPU集群调度方法,该方法可以自动发现计算节点,并动态估计计算节点的计算能力,并根据计算能力、任务的计算强度和优先级在异构GPU集群上合理分配计算资源.同时,该系统还具有容错能力,能够处理计算节点的意外退出,可恢复意外退出计算节点的计算任务,并动态适应系统的计算规模.通过实验表明,文中采用的策略达到了预期目的     

基于GPU的真实感毛发快速绘制

提出一种基于图形处理器(GPU)加速的真实感毛发快速绘制方法.方法通过混合绘制多层次的半透明纹理层来表示物体表面的毛发效果,并在绘制过程充分运用了GPU的可编程功能.其中采用GPU的顶点绘制器来完成多层网格层顶点位置的计算;采用像素绘制器来实现毛发特殊光照效果的计算.实验表明,通过采用GPU可编程计算,毛发的绘制速度得到了明显提高.方法对中等规模的模型达到了实时的毛发绘制速度,并具有逼真的仿真效果.     

面向节点异构GPU集群的能量有效调度方案

GPU集群已经成为高性能计算(HPC)领域的主流组件。随着处理单元的发展和集群节点的拓展,GPU集群将在节点层面趋于异构化。提出一套针对异构任务在节点异构GPU集群上的能量有效调度方案。形式化地描述其任务和资源模型以及能耗评估模型。通过特定的节点选择策略,减少空闲状态的能耗损失。通过任务类型划分和组合分配以及DVFS,增加CPU资源利用率。该方案从系统层面着手,能够与现有的算法和指令层面的优化方法兼容。     

面向AI数据流处理的边缘GPU集群通信系统

在边缘计算场景中,GPU集群需要应对终端设备所产生的数量庞大的AI计算任务.AI计算任务在边缘GPU集群内的响应耗时不仅包括计算时间,还包括数据传输和排队等待延时.因此,任务数据传输和AI数据流调度也是影响GPU集群数据处理性能的关键因素.传统网络协议栈的低效率和专用高速网络设备的高成本,并不适用于边缘场景中大规模AI数据流的实时处理.本文基于DPDK技术提出多核多网卡的并行通信机制,利用集群空闲的CPU资源加快数据传输;兼顾节点计算能力和网络负载分析节点实时处理能力制定数据流分配策略,并实现了由数据接入量驱动的动态多核多缓冲区模型,减少了任务计算的等待时间.实验结果表明,提出的通信调度方案不仅能够增加约30%的集群数据流容量,而且带宽利用率能够达到90%;在总AI任务量相同的情况下,归功于DPDK高效的数据包处理能力,避免了大量的AI任务因传输失败而被丢弃的情况.     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.