Fast parallel Preconditioned Conjugate Gradient algorithms for robot manipulator dynamics simulation

In this paper fast parallel Preconditioned Conjugate Gradient (PCG) algorithms for robot manipulator forward dynamics, or dynamic simulation, problem are presented. By exploiting the inherent structure of the forward dynamics problem, suitable preconditioners are devised to accelerate the iterations. Also, based on the choice of preconditioners, a modified dynamic formulation is used to speedup both serial and parallel computation of each iteration. The implementation of the parallel algorithms on two interconnected processor arrays is discussed and their computation and communication complexities are analyzed. The simulation results for a Puma Arm are presented to illustrate the effectiveness of the proposed preconditioners. With a faster convergence due to preconditioning and a faster computation of iterations due to parallelization, the developed parallel PCG algorithms represent the fastest alternative for parallel computation of the problem withO(n) processors.     

Covering a string

We consider the problem of finding the repetitive structures of a given stringx. The periodu of the stringx grasps the repetitiveness ofx, sincex is a prefix of a string constructed by concatenations ofu. We generalize the concept of repetitiveness as follows: A stringw covers a stringx if there is a superstring ofx which is constructed by concatenations and superpositions ofw. A substringw ofx is called aseed ofx ifw coversx. We present anO(n logn)-time algorithm for finding all the seeds of a given string of lengthn.Partially supported by SERC Grants GR/F 00898 and GR/J 17844, NATO Grant CRG 900293, ESPRIT BRA Grant 7131 for ALCOMII, and MRC Grant G 9115730.Partially supported by MRC Grant G 9115730 and S.N.U. Posco Research Fund 94-15-1112.     

Uniform modeling of parameter dependent nonlinear systems

This paper addresses the problem of approximating parameter dependent nonlinear systems in a unified framework. This modeling has been presented for the first time in the form of parameter dependent piecewise affine systems. In this model, the matrices and vectors defining piecewise affine systems are affine functions of parameters. Modeling of the system is done based on distinct spaces of state and parameter, and the operating regions are partitioned into the sections that we call ’multiplied simplices’. It is proven that this method of partitioning leads to less complexity of the approximated model compared with the few existing methods for modeling of parameter dependent nonlinear systems. It is also proven that the approximation is continuous for continuous functions and can be arbitrarily close to the original one. Next, the approximation error is calculated for a special class of parameter dependent nonlinear systems. For this class of systems, by solving an optimization problem, the operating regions can be partitioned into the minimum number of hyper-rectangles such that the modeling error does not exceed a specified value. This modeling method can be the first step towards analyzing the parameter dependent nonlinear systems with a uniform method.     

基于模糊数据挖掘和遗传算法的网络入侵检测技术

文章通过开发一套新的网络入侵检测系统来证实应用模糊逻辑和遗传算法的数据挖掘技术的有效性;这个系统联合了基于模糊数据挖掘技术的异常检测和基于专家系统的滥用检测,在开发异常检测的部分时,利用模糊数据挖掘技术来从正常的行为存储模式中寻找差异,遗传算法用来调整模糊隶属函数和选择一个合适的特征集合,滥用检测部分用于寻找先前行为描述模式,这种模式很可能预示着入侵,网络的通信量和系统的审计数据被用做两个元件的输入;此系统的系统结构既支持异常检测又支持滥用检测、既适用于个人工作站又可以适用于复杂网络。     

On an evolutionary approach for constrained optimization problem solving

Over the last few decades, many different evolutionary algorithms have been introduced for solving constrained optimization problems. However, due to the variability of problem characteristics, no single algorithm performs consistently over a range of problems. In this paper, instead of introducing another such algorithm, we propose an evolutionary framework that utilizes existing knowledge to make logical changes for better performance. The algorithmic aspects considered here are: the way of using search operators, dealing with feasibility, setting parameters, and refining solutions. The combined impact of such modifications is significant as has been shown by solving two sets of test problems: (i) a set of 24 test problems that were used for the CEC2006 constrained optimization competition and (ii) a second set of 36 test instances introduced for the CEC2010 constrained optimization competition. The results demonstrate that the proposed algorithm shows better performance in comparison to the state-of-the-art algorithms.     

Weighted principal component extraction with genetic algorithms

Pattern recognition techniques have been widely used in a variety of scientific disciplines including computer vision, artificial intelligence, biology, and so forth. Although many methods present satisfactory performances, they still have several weak points, thus leaving a lot of space for further improvements. In this paper, we propose two performance-driven subspace learning methods by extending the principal component analysis (PCA) and the kernel PCA (KPCA). Both methods adopt a common structure where genetic algorithms are employed to pursue optimal subspaces. Because the proposed feature extractors aim at achieving high classification accuracy, enhanced generalization ability can be expected. Extensive experiments are designed to evaluate the effectiveness of the proposed algorithms in real-world problems including object recognition and a number of machine learning tasks. Comparative studies with other state-of-the-art techniques show that the methods in this paper are capable of enhancing generalization ability for pattern recognition systems.     

A hybrid stock selection model using genetic algorithms and support vector regression

In the areas of investment research and applications, feasible quantitative models include methodologies stemming from soft computing for prediction of financial time series, multi-objective optimization of investment return and risk reduction, as well as selection of investment instruments for portfolio management based on asset ranking using a variety of input variables and historical data, etc. Among all these, stock selection has long been identified as a challenging and important task. This line of research is highly contingent upon reliable stock ranking for successful portfolio construction. Recent advances in machine learning and data mining are leading to significant opportunities to solve these problems more effectively. In this study, we aim at developing a methodology for effective stock selection using support vector regression (SVR) as well as genetic algorithms (GAs). We first employ the SVR method to generate surrogates for actual stock returns that in turn serve to provide reliable rankings of stocks. Top-ranked stocks can thus be selected to form a portfolio. On top of this model, the GA is employed for the optimization of model parameters, and feature selection to acquire optimal subsets of input variables to the SVR model. We will show that the investment returns provided by our proposed methodology significantly outperform the benchmark. Based upon these promising results, we expect this hybrid GA-SVR methodology to advance the research in soft computing for finance and provide an effective solution to stock selection in practice.     

Average-case analysis of the Modified Harmonic algorithm

In this paper we analyze the average-case performance of the Modified Harmonic algorithm for on-line bin packing. We first analyze the average-case performance for arbitrary distribution of item sizes over (0,1]. This analysis is based on the following result. Letf ₁ andf ₂ be two linear combinations of random variables {N _i } _i=1 ^k where theN _i 's have a joint multinomial distribution for eachn= _i=1 ^k ,N _i . LetE(f ₁) O andE(f ₂) 0. Then lim_n E(max(_{f 1},f ₂ ))/n = lim _n max(E(f ₁),E(f ₂))/n. We then consider the special case when the item sizes are uniformly distributed over (0,1]. For specific values of the parameters, the Modified Harmonic algorithm turns out to be better than the other two linear-time on-line algorithms—Next Fit and Harmonic—in both the worst case as well as the average case. We also obtain optimal values for the parameters of the algorithm from the average-case standpoint. For these values of the parameters, the average-case performance ratio is less than 1.19. This compares well with the performance ratios 1.333. and 1.2865. of the Next Fit algorithm and the Harmonic algorithm, respectively.     

Randomized function evaluation on a ring

LetR be a unidirectional asynchronous ring ofn identical processors each with a single input bit. Letf be any cyclic nonconstant function ofn boolean variables. Moran and Warmuth (1986) prove that anydeterministic algorithm that evaluatesf onR has communication complexity (n logn) bits. They also construct a family of cyclic nonconstant boolean functions that can be evaluated inO(n logn) bits by a deterministic algorithm.This contrasts with the following new results:

An efficient algorithm for maxdominance, with applications

Given a planar setS ofn points,maxdominance problems consist of computing, for everyp S, some function of the maxima of the subset ofS that is dominated byp. A number of geometric and graph-theoretic problems can be formulated as maxdominance problems, including the problem of computing a minimum independent dominating set in a permutation graph, the related problem of finding the shortest maximal increasing subsequence, the problem of enumerating restricted empty rectangles, and the related problem of computing the largest empty rectangle. We give an algorithm for optimally solving a class of maxdominance problems. A straightforward application of our algorithm yields improved time bounds for the above-mentioned problems. The techniques used in the algorithm are of independent interest, and include a linear-time tree computation that is likely to arise in other contexts.The research of this author was supported by the Office of Naval Research under Grants N00014-84-K-0502 and N00014-86-K-0689, and the National Science Foundation under Grant DCR-8451393, with matching funds from AT&T.This author's research was supported by the National Science Foundation under Grant DCR-8506361.