检索结果-内蒙古大学图书馆

ROBOTIC INTELLIGENCE AND AUTOMATION 2023年第4期43卷 476-488页

作者： Li, Jinzhong Cong, Ming Liu, Dong Du, Yu Dalian Univ Technol Sch Mech Engn Dalian Peoples R China

PurposeRobots face fundamental challenges in achieving reliable and stable operations for complex home service scenarios. This is one of the crucial topics of robotics methods to imitate human beings' advanced cognitive characteristics and apply them to solve complex tasks. The purpose of this study is to enable robots to have the ability to understand the scene and task process in complex scenes and to provide a reference method for robot task programming in complex scenes. Design/methodology/approachThis paper constructs a task modeling method for robots in complex environments based on the characteristics of the perception-motor memory model of human cognition. In the aspect of episodic memory construction, the task execution process is included in the category of qualitative spatio-temporal calculus. The topology interaction of objects in a task scenario is used to define scene attributes. The task process can be regarded as changing scene attributes on a time scale. The qualitative spatio-temporal activity graphs are used to analyze the change process of the object state with time during the robot task execution. The tasks are divided according to the different values of scene attributes at different times during task execution. Based on this, in procedural memory, an object-centered motion model is developed by analyzing the changes in the relationship between objects in the scene episode by analyzing the scene changes before and after the robot performs the actions. Finally, the task execution process of the robot is constructed by alternately reconstructing episodic memory and procedural memory. FindingsTo verify the applicability of the proposed model, a scenario where the robot combines the object (one of the most common tasks in-home service) is set up. The proposed method can obtain the landscape of robot tasks in a complex environment. Originality/valueThe robot can achieve high-level task programming through the alternating interpretation of scenarios

关键词： task programming Episodic memory Procedural memory Spatio-temporal constraint calculus Qualitative spatio-temporal activity graphs Object-centered

来源：评论

学校读者我要写书评

暂无评论

Exploring Scheduling Algorithms for Parallel task Graphs: A Modern Game Engine Case Study 28th

Exploring Scheduling Algorithms for Parallel Task Graphs: A ...

引用

28th International Conference on Parallel and Distributed Computing (Euro-Par)

作者： Regragui, Mustapha Coye, Baptiste Pilla, Laercio L. Namyst, Raymond Barthou, Denis Univ Bordeaux LaBRI INRIA Bordeaux INPCNRS F-5800 Talence France Ubisoft Bordeaux Bordeaux France

ISBN: (纸本)9783031125973;9783031125966

Game engines are at the heart of the design of modern video games. One of their functions is to keep a high frame rate by scheduling the tasks required to generate each frame (image). These tasks are organized in a soft real-time, parallel task graph, which is a scenario very few works have focused on, or adapted scheduling algorithms to. In this paper, we study the scheduling problem of game engines. We model the tasks and the scheduling problem by profiling a commercial game engine, adapt and compare different scheduling algorithms, and propose two additional optimizations regarding the micro-scheduler and the parallelization of targeted tasks.

关键词： Scheduling Video Game engine Soft real-time task programming

来源：评论

学校读者我要写书评

暂无评论

Introducing multi-level parallelism, at coarse, fine and instruction level to enhance the performance of iterative solvers for large sparse linear systems on Multi- and Many-core architecture 6

Introducing multi-level parallelism, at coarse, fine and ins...

引用

IEEE/ACM 6th Workshop on the LLVM Compiler Infrastructure in HPC / Workshop on Hierarchical Parallelism for Exascale Computing (LLVM-HPC and HiPar)

作者： Gratien, Jean-Marc IFP Energies Nouvelles Comp Sci Dept Rueil Malmaison France

ISBN: (纸本)9780738110424

With the evolution of High Performance Computing, multi-core and many-core systems are now a common feature of new hardware architectures. The introduction of very large number of cores at the processor level is challenging because it requires to handle multi level parallelism at various levels either coarse or fine to fully take advantage of the offered computing power. The induced programming effort can be fixed with parallel programming models based on the data flow model and the task programming paradigm [1]. To do so many of the standard numerical algorithms must be revisited as they cannot be easily parallelized at the finest levels. Iterative linear solvers are a key part of petroleum reservoir simulation as they can represent up to 80% of the total computing time. In these algorithms, the standard preconditioning methods for large, sparse and unstructured matrices - such as Incomplete LU Factorization (ILU) or Algebraic Multigrid (AMG) - fail to scale on shared-memory architectures with large number of cores. In this paper we reconsider preconditioning algorithms to better introduce multi-level parallelism at both coarse level with MPI, fine level with threads and at the instruction level to enable SIMD optimizations. This paper illustrates how we enhance the implementation of preconditioners like the multi-level domain decomposition (DDML) preconditioners [2], based on the popular Additive Schwartz Method (ASM), or the classical ILU0 preconditioner with the fine grained parallel fixed point variant presented in [3]. Our approach is validated on linear systems extracted from realistic petroleum reservoir simulations. The robustness of the preconditioners is tested with respect to the data heterogeneities of the study cases. We evaluate the extensibility of our implementation regarding the model sizes and its scalability regarding the large number of cores provided by new KNL processors or multi-nodes clusters.

关键词： HPC task programming Many-Cores Multi-Level Parallelism Parallel Algorithms

来源：评论

学校读者我要写书评

暂无评论

Distributed-memory lattice H-matrix factorization

引用

INTERNATIONAL JOURNAL OF HIGH PERFORMANCE COMPUTING APPLICATIONS 2019年第5期33卷 1046-1063页

作者： Yamazaki, Ichitaro Ida, Akihiro Yokota, Rio Dongarra, Jack Sandia Natl Labs Comp Sci Res Inst Albuquerque NM 87123 USA Univ Tokyo Informat Technol Ctr Supercomp Res Div Tokyo Japan Tokyo Inst Technol Global Sci Informat & Comp Ctr Tokyo Japan Univ Tennessee Dept Elect Engn & Comp Sci Knoxville TN USA

We parallelize the LU factorization of a hierarchical low-rank matrix (H-matrix) on a distributed-memory computer. This is much more difficult than the H-matrix-vector multiplication due to the dataflow of the factorization, and it is much harder than the parallelization of a dense matrix factorization due to the irregular hierarchical block structure of the matrix. Block low-rank (BLR) format gets rid of the hierarchy and simplifies the parallelization, often increasing concurrency. However, this comes at a price of losing the near-linear complexity of the H-matrix factorization. In this work, we propose to factorize the matrix using a "lattice H-matrix" format that generalizes the BLR format by storing each of the blocks (both diagonals and off-diagonals) in the H-matrix format. These blocks stored in the H-matrix format are referred to as lattices. Thus, this lattice format aims to combine the parallel scalability of BLR factorization with the near-linear complexity of H-matrix factorization. We first compare factorization performances using the H-matrix, BLR, and lattice H-matrix formats under various conditions on a shared-memory computer. Our performance results show that the lattice format has storage and computational complexities similar to those of the H-matrix format, and hence a much lower cost of factorization than BLR. We then compare the BLR and lattice H-matrix factorization on distributed-memory computers. Our performance results demonstrate that compared with BLR, the lattice format with the lower cost of factorization may lead to faster factorization on the distributed-memory computer.

关键词： boundary element method LU factorization distributed memory hierarchical matrix task programming

来源：评论

学校读者我要写书评

暂无评论

Pre-processing for Road Traffic Congestion Prediction in Nepal Based On GPS Data Using Parallel Computing Strategy

Pre-processing for Road Traffic Congestion Prediction in Nep...

引用

International Conference on Computing, Communication, and Intelligent Systems (ICCCIS)

作者： Suresh Mainali Subarna Shakya Department of Electronics and Computer Engineering Institute of Engineering Pulchowk Campus Lalitpur Nepal

ISBN: (纸本)9781728148274

Estimation of travel time on a particular road is vital for different businesses and individuals. Congested roads with heavy traffic make it difficult to estimate travel time. To avoid the congested road, traffic congestion of a road should be estimated. In this project, we process 8 GB of raw trajectory GPS data of 6 months, obtained from a fleet management company operating in Nepal. Road network of Nepal was extracted and further mapped with those trajectory points. task programming strategy was used for parallel computing to increase computational speed and utilize the computational resources.

关键词： GPS task programming Message queuing OpenStreetMaps Global Positioning Systems Nepal Travel time PARALLEL PROCESSING (COMPUTERS) Road Road traffic traffic congestion

来源：评论

学校读者我要写书评

暂无评论

Parallelization of iterative methods to solve sparse linear systems using task based runtime systems on multi and many-core architectures: application to Multi-Level Domain Decomposition methods

Parallelization of iterative methods to solve sparse linear ...

引用

作者： Adrien Roussel Universite Grenoble Alpes

学位级别：博士

Numerical methods in reservoir engineering simulations lead to the resolution of unstructured, large and sparse linear systems. The performances of iterative methods employed in simulator to solve these systems are crucial in order to consider many more *** this work, we present a way to implement efficient parallel iterative methods on top of a task-based runtime system. It enables to simplify the development of methods while keeping control on parallelism management. We propose a linear algebra API which aims to implicitly express task dependencies: the semantic is sequential while the parallelism is *** have extended the HARTS runtime system to monitor executions to better exploit NUMA architectures. Moreover, we implement a scheduling policy which exploits data locality for task placement. We have extended the API for KNL many-core systems while considering the various memory banks available. This work has led to the optimization of the SpMV kernel, one of the most time consuming operation in iterative *** work has been evaluated on iterative methods, and particularly on one method coming from domain decomposition. Hence, we demonstrate that the API enables to reach good performances on both multi-core and many-core architectures.

关键词： Parallel computing runtime system domain decomposition multi-core many-core task programming

来源：评论

学校读者我要写书评

暂无评论

Parallelization of numerical examination of nonlinear systems using maple

引用

Civil-Comp Proceedings 2017年 111卷

作者： Hajdu, F. Molnarka, G.Y. Department of Mechatronics and Machine Design Széchenyi István University Gyor Hungary

In this work we present possibilities of the parallelization of numerical examination and simulation of nonlinear systems, especially creating phase-plane diagrams in parallel. For construction of such diagrams Maple was used because it provides algorithms for solving differential equations and two models for parallelization. These are the task programming model and the Grid programming model. The paper describes the development, the test and the comparison of the parallel programs created according to the two parallelization models. Even using a simple desktop with low number of processors a relative good speedup with a good efficiency could be achieved in both cases. It was also examined how the problem size affects the speedup and the efficiency. © Civil-Comp Press, 2017.

关键词： Nonlinear systems Differential equations Efficiency Mathematical models Natural sciences computing Numerical analysis Parallel processing systems Grid programming models Maple Nonlinear system modeling Numerical examination Parallel program Parallelizations SIMD task programming

来源：评论

学校读者我要写书评

暂无评论

task programming for Robots Using Multi-mode Control – Preparation of Modes to Generate Motions for Disassembly task –

引用

IFAC Proceedings Volumes 2009年第16期42卷 143-148页

作者： Kazuo Tani Takuya Kawamura Masanori Owaki Gifu University Gifu 501-1193 Japan Toyota Industries Corporation Toyodacho Kariya 448-8671 Japan

Abstract Based on the consideration of tasks and motions and their relations, a method called “multi-mode control” is proposed to facilitate programming of robot tasks that require sensorimotor control. In this method, a mode defines a specific relation of sensor information and robot motion. A string of modes which correspond to the interactions of robot and environment constitutes a task program. Modes useful for disassembly tasks, beside others, are implemented. tasks such as peg extraction are programmed using these modes and performed successfully.

关键词： task Motion task programming Sensorimotor control Multi-mode control Disassembly

来源：评论

学校读者我要写书评

暂无评论

Kinematics programming for Cooperating Robotic Systems

Kinematics Programming for Cooperating Robotic Systems

引用

3rd IFIP/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems

作者： Tonetto, Cristiane P. Rocha, Carlos R. Simas, Henrique Dias, Altamir Univ Fed Santa Catarina Dept Mech Engn BR-88040900 Florianopolis SC Brazil

ISBN: (纸本)9783642282553;9783642282546

This paper presents the kinematics programming for Cooperative Robotic Systems (CRS), based on screw theory approach. It includes a systematic for modeling and programming robotic systems composed by any number of robots (not necessarily identical), working cooperatively to perform different tasks. In order to illustrate the application of the systematic, an example of CRS including four robots is presented. The kinematic computation of a CRS is made through the screw theory approach and its tools, like the Davies method and Assur virtual chains.

关键词： Cooperative Robotic Systems task programming Kinematics Modeling Systematics

来源：评论

学校读者我要写书评

暂无评论

Robot System and programming Environment for Teaching Robotics

引用

IFAC Proceedings Volumes 1988年第16期21卷 459-463页

作者： A. Hanczak A. Kasinski A. Wozniak Institute of Control Engineering Technical University of Poznań Poznań Poland

Low cost, robot system for educational applications is described. After presenting kinematics, gripping and driving systems of the manipulator performance characteristics of the robot are given. The architecture of the distributed system for controlling manipulator and supporting trajectory or task planning activities is discussed. Original elements of the design are: coordinated digital group-control of stepping motors, specific system of control messages to be used within distributed control network and the multifunction gripper with automatically fed exchangeable tips. The ways our system may be used for supporting courses in robotics are considered. Then we describe a system based on personal computer which enables direct control and programming of the robot. By robot programming environment we understand devices (microcomputer and robot with the appropriate interfaces) together with an integrated software system. The role of that system is to create man-machine interface between robot and programer and to support robot-characteristic programming tasks such as creating trajectory, defining world model or writing a scenario. Prolog was chosen as implementation language. The system consists of the: man-machine-interface interpreter; trajectory editor; robot task programming language; robot-task database; Man-machine interface is through the screen, keyboard and mouse. The system is already implemented on IBM PC to control educational robot designed and built at the Institute of Control Engineering TU of Poznan.

关键词： robots position control computer control trajectory planning task programming man-machine system

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：