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.     

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.     

Synthesis, structure and magnetic properties of β-MnO 2 nanorods

We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO₂ nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO₂ material is covered by a thin surface layer (∼2.5 nm) of α-Mn₂O₃ phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO₂ nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition of bulk magnetic properties of spatially segregated β-MnO₂ and α-Mn₂O₃ constituent phases and the soft ferromagnetism of the thin interface layer between these two phases.     

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.     

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.     

Photocatalytic degradation rate of oxalic acid on the semiconductive layer of n-TiO2 particles in the batch mode plate reactor Part I: Mass transfer limits

Organic compounds dissolved in water can be decomposed on a layer of n-TiO2 particles irradiated by u.v. light, which generates holes and electrons in the TiO2 material. Dissolved oxygen was used as electron scavenger and holes reacted with water to give OH radicals. The rate of degradation of the dissolved organic compounds by OH radicals is limited by the transfer of either oxygen or of theorganic compounds to the surface of n-TiO2 particles. The consequence of these limits is that, in the batch mode reactor with recirculation of the liquid, the dependence of the concentration of an organic compound on time has either a linear or an exponential form. Experiments with decomposition of oxalic acid in aqueous solutions using a plate reactor (60 cm × 120 cm) confirmed the analysis. Equations for evaluation of the mass transfer coefficient of the dissolved species to the surface of the plate reactor with a moving liquid fil m were developed for the case of the thickness of the Nernst diffusion layer being thinner than the thickness of the liquid. The experimentally obtained decomposition rate of oxalic acid was about 60 to 80% of the theoretical decomposition rate limited by oxygen flux through the film of a moving liquid. The present theory neglects the diffusion of oxygen into the porous layer of n-TiO2.     

Tocopherol oil concentration in field-grown sunflower is accounted for by oil weight per seed

Tocopherols are natural antioxidants that increase the stability of fat-containing foods and perform important biological activities. Significant variations (389 to 1873 μg g oil⁻¹) in the total tocopherol concentration of sunflower seed oil have been reported. The main objectives of this work were to determine the influence of intercepted photosynthetically active radiation on tocopherol concentration during seed filling and to establish and validate relationships between tocopherol concentration in oil and other quality variables of the seed. Seven sunflower hybrids were grown under good water and nutritional conditions in two similar experiments carried out in two contrasting environments. Treatments were applied to modify the amount of radiation intercepted per plant during seed filling in order to obtain a range in oil yield per plant and its components. Greater per plant intercepted radiation decreased the tocopherol concentration in oil. Tocopherol concentration decreased when oil weight per seed increased. Tocopherol concentration stabilized for oil weight per seed higher than 23 mg oil seed⁻¹. This exponential relationship accounted for 73% of the variability in tocopherol concentration (507 to 1203 μg g oil⁻¹) despite differences in hull type, locations, hybrids, and radiation treatments. The proposed relationship acceptably predicted independent results. Crop management techniques could lead to seeds with greater concentrations of tocopherols.     

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.