Nature-Inspired Meta-Heuristics on Modern GPUs: State of the Art and Brief Survey of Selected Algorithms

Graphic processing units (GPUs) emerged recently as an exciting new hardware environment for a truly parallel implementation and execution of Nature and Bio-inspired Algorithms with excellent price-to-power ratio. In contrast to common multicore CPUs that contain up to tens of independent cores, the GPUs represent a massively parallel single-instruction multiple-data devices that can nowadays reach peak performance of hundreds and thousands of giga floating-point operations per second. Nature and Bio-inspired Algorithms implement parallel optimization strategies in which a single candidate solution, a group of candidate solutions (population), or multiple populations seek for optimal solution or set of solutions of given problem. Genetic algorithms (GA) constitute a family of traditional and very well-known nature-inspired populational meta-heuristic algorithms that have proved its usefulness on a plethora of tasks through the years. Differential evolution (DE) is another efficient populational meta-heuristic algorithm for real-parameter optimization. Particle swarm optimization (PSO) can be seen as nature-inspired multiagent method in which the interaction of simple independent agents yields intelligent collective behavior. Simulated annealing (SA) is global optimization algorithm which combines statistical mechanics and combinatorial optimization with inspiration in metallurgy. This survey provides a brief overview of the latest state-of-the-art research on the design, implementation, and applications of parallel GA, DE, PSO, and SA-based methods on the GPUs.     

Support vector regression methodology for prediction of input displacement of adaptive compliant robotic gripper

The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR _poly and SVR _rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology.     

Towards a Trajectory Planning Concept: Augmenting Path Planning Methods by Considering Speed Limit Constraints

Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concretely speed limit constraints. We apply this approach to the well known A* and state-of-the-art Theta* and Lazy Theta* path planning algorithms. We use a concept of trajectory planning based on a modular architecture in which spatial and dynamic parts can be easily implemented. This concept allows dynamic aspects to be processed during planning. Existing systems based on a similar concept usually add dynamics (velocity) into spatial curves in a post-processing step which might be inappropriate when the curves do not follow the dynamics. Many existing trajectory planning approaches, especially in mobile robotics, encode dynamic aspects directly in the representation (e.g. in the form of regular lattices) which requires a precise knowledge of the environmental and dynamic properties of particular autonomous entities making designing and implementing such trajectory planning approaches quite difficult. The concept of trajectory planning we implemented might not be as precise but the modular architecture makes the design and implementation easier because we can use (modified) well known path planning methods and define models of dynamics of autonomous entities separately. This seems to be appropriate for simulations used in feasibility studies for some complex autonomous systems or in computer games etc. Our basic implementation of the augmented A*, Theta* and Lazy Theta* algorithms is also experimentally evaluated. We compare (i) the augmented and basic A*, Theta* and Lazy Theta* algorithms and (ii) optimizing of augmented Theta* and Lazy Theta* for distance (the trajectory length) and duration (time needed to move through the trajectory).     

Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.     

Polyesterification and isomerization of maleic anhydride and 1,6-hexane diol as studied by 1H and 13C n.m.r.

The polyesterification and isomerization reaction of 1,6-hexane diol and maleic anydride in a melt without catalyst was studied by ¹³C and ¹H n.m.r. spectroscopy. The structure and concentration of oligoester species during the polyesterification and isomerization were determined depending on the reaction temperature and time. According to the number and configuration of repeating units determined from ¹H n.m.r. spectra kinetics of both reactions were also considered. The degree of isomerization is continuously increasing in the investigated reaction range.     

Vapour liquid equilibrium with association in both phases: A model with the concentration-dependent liquid phase association constant applied to acetic acid—benzene, -toluene, -p- and -o-xylene

A model employing the correction factors of Marek and Standart, but using a concentration-dependent liquid phase association factor of Jenkins—Robinson, has been used to model vapour—liquid equilibrium data for mixtures of acetic acid with benzene, toluene, o-xylene and p-xylene. With the aim to use systems of acetic acid—benzene and acetic acid—toluene as the test mixtures for distillation columns, the examination of the systems of acetic acid—aromatic hydrocarbons was undertaken. The model promises to be useful in modelling isobaric and isothermal data of acetic acid—benzine, acetic acid—toluene, acetic acid-p-xylene and acetic acid-o-xylene systems. Deviation plots show that the isothermal and isobaric data are represented well.     

Scalable Realistic Rendering with Many‐Light Methods

Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering.     

meSAT: multiple encodings of CSP to SAT

One approach for solving Constraint Satisfaction Problems (CSP) (and related Constraint Optimization Problems (COP)) involving integer and Boolean variables is reduction to propositional satisfiability problem (SAT). A number of encodings (e.g., direct, log, support, order) for this purpose exist as well as specific encodings for some constraints that are often encountered (e.g., cardinality constraints, global constraints). However, there is no single encoding that performs well on all classes of problems and there is a need for a system that supports multiple encodings. We present a system that translates specifications of finite linear CSP problems into SAT instances using several well-known encodings, and their combinations. We also present a methodology for selecting a suitable encoding based on simple syntactic features of the input CSP instance. Thorough evaluation has been performed on large publicly available corpora and our encoding selection method improves upon the efficiency of existing encodings and state-of-the-art tools used in comparison.     

A new set distance and its application to shape registration

We propose a new distance measure, called Complement weighted sum of minimal distances, between finite sets in ${\mathbb Z }^n$ and evaluate its usefulness for shape registration and matching. In this set distance the contribution of each point of each set is weighted according to its distance to the complement of the set. In this way, outliers and noise contribute less to the new similarity measure. We evaluate the performance of the new set distance for registration of shapes in binary images and compare it to a number of often used set distances found in the literature. The most extensive evaluation uses a set of synthetic 2D images. We also show three examples of real problems: registering a set of 2D images extracted from synchrotron radiation micro-computed tomography (SR $\upmu $ CT) volumes depicting bone implants; the difficult multi-modal registration task of finding the exact location of a 2D slice of a bone implant, as imaged by a light microscope, within a 3D SR $\upmu $ CT volume of the same implant; and finally recognition of handwritten characters. The evaluation shows that our new set distance performs well for all tasks and outperforms the other observed distance measures in most cases. It is therefore useful in many image registration and shape comparison tasks.     

Theory of porous electrodes—XI. The positive plate of the lead-acid battery

Partial differential equations describing the transport of mass and electricity in the pores of the positive electrode of a lead acid battery were derived. The theory is based on exact transport equations and on the assumption that the solid porous matrix has a metallic conductivity. Volume changes in both phases are taken into account. Numerical solutions obtained on a computer are presented for the case where the influence of electrolyte between the electrodes can be neglected. The solutions depend on the product of electrode thickness times current density, and on the initial porosity.