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An adaptive solver for viscoelastic incompressible two-phase problems applied to the study of the splashing of weakly viscoelastic droplets

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JOURNAL OF NON-NEWTONIAN FLUID MECHANICS 2019年 264卷 144-158页

作者： Lopez-Herreraa, Jm Popinet, S. Castrejon-Pita, A. A. Univ Seville Dept Ingn Aerosp & Mecan Fluidos Seville Spain Sorbonne Univ CNRS Inst Jean Le Rond dAlembert F-75005 Paris France Univ Oxford Dept Engn Sci Oxford OX1 3PN England

We propose an adaptive numerical solver for the study of viscoelastic 2D two-phase flows using the volume-of-fluid method. The scheme uses the robust log conformation tensor technique of Fattal and Kupferman (2004, 2005) [1,2] combined with the time-split scheme proposed by Hao and Pan (2007) [3]. The use of such a time-split scheme has been proven to increase the stability of the numerical computation of two-phase flows. We show that the adaptive computational technique can be used to simulate viscoelastic flows efficiently. The solver is coded using the open-source libraries provided by the Basilisk (Popinet, 2018 [4]) platform. In particular, the method is implemented for Oldroyd-B type viscoelastic fluids and related models (FENE-P and FENE-CR). The numerical scheme is then used to study the splashing of weakly viscoelastic drops. The solvers and tests of this work are freely available on the Basilisk (Popinet, 2018 [4]) web site (Lopez-Herrera, 2018 [5]).

关键词： Flow Solvers Scheme splashing Basiliscus source program library numerical calculation splitting scheme Self tuning

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Software review: DEAP (Distributed Evolutionary Algorithm in Python) library

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GENETIC programMING AND EVOLVABLE MACHINES 2019年第1期20卷 139-142页

作者： Kim, Jinhan Yoo, Shin Korea Adv Inst Sci & Technol Sch Comp 291 Daehak Ro Daejeon 34141 South Korea

We give a critical assessment of the DEAP (Distributed Evolutionary Algorithm in Python) open-source library and highly recommend it to both beginners and experts alike. DEAP supports a range of evolutionary algorithms including both strongly and loosely typed Genetic programming, Genetic Algorithm, and Multi-Objective Evolutionary Algorithms such as NSGA-II and SPEA2. It contains most of the basic functions required by evolutionary computation, so that its users can easily construct various flavours of both single and multi-objective evolutionary algorithms and execute them using multiple processors. It is ideal for fast prototyping and can be used with an abundance of other Python libraries for data processing as well as other machine learning techniques.

关键词： Python multi-objective evolutionary algorithm Pythonidae Libraries evolutionary algorithm source program library Genetic Algorithm (GA)

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GradVis: Visualization and Second Order Analysis of Optimization Surfaces during the Training of Deep Neural Networks

GradVis: Visualization and Second Order Analysis of Optimiza...

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IEEE/ACM Workshop on Machine Learning in High Performance Computing Environments (MLHPC)

作者： Avraam Chatzimichailidis Janis Keuper Franz-Josef Pfreundt Nicolas R. Gauger Competence Center High Performance Computing Fraunhofer ITWM Kaiserslautern Germany Chair for Scientific Computing TU Kaiserslautern Kaiserslautern Germany Institute for Machine Learning and Analytics Offenburg University Germany Fraunhofer Center Machine Learning Germany

ISBN: (纸本)9781728159867

Current training methods for deep neural networks boil down to very high dimensional and non-convex optimization problems which are usually solved by a wide range of stochastic gradient descent methods. While these approaches tend to work in practice, there are still many gaps in the theoretical understanding of key aspects like convergence and generalization guarantees, which are induced by the properties of the optimization surface (loss landscape). In order to gain deeper insights, a number of recent publications proposed methods to visualize and analyze the otimization surfaces. However, the computational cost of these methods are very high, making it hardly possible to use them on larger networks. In this paper, we present the GradVis Toolbox, an open source library for efficient and scalable visualization and analysis of deep neural network loss landscapes in Tesorflow and PyTorch. Introducing more efficient mathematical formulations and a novel parallelization scheme, GradVis allows to plot 2d and 3d projections of optimization surfaces and trajectories, as well as high resolution second order gradient information for large networks.

关键词： Visualization Eigenvalues Parallelization Deep-learning Second-order parallelization Visualization eigenvalues Neural network source program library Training Functional training Surfaces Analysis

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From Standardized Data Formats to Standardized Tools for Optimization Algorithm Benchmarking 16

From Standardized Data Formats to Standardized Tools for Opt...

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IEEE 16th International Conference on Cognitive Informatics and Cognitive Computing (ICCI*CC)

作者： Weise, Thomas Hefei Univ Fac Comp Sci & Technol Inst Appl Optimizat Hefei 230601 Anhui Peoples R China

ISBN: (纸本)9781538607718

Benchmarking, the empirical algorithm performance comparison, is usually the only feasible way to find which algorithm is good for a given problem. Benchmarking consists of two steps: First, the algorithms are applied to the benchmarking problems and data is collected. Second, the collected data is evaluated. There is little guidance for the first and a lack of tool support for the second step. Researchers investigating new problems need to implement both data collection and evaluation. We make the case for defining standard directory structures and file formats for the performance data and metadata of experiments with optimization algorithms. Such formats must be easy to read, write, and to incorporate into existing setups. They would allow more general tools to emerge. Researchers then would no longer need to implement their own evaluation programs. We derive suitable formats by analyzing what existing tools do and what information they need. We present a general tool, the optimization *** framework, including an open source library for reading and writing data in our format. Since our framework obtains its data from a general file format, it can assess the performance of arbitrary algorithms implemented in arbitrary programming languages on arbitrary single-objective optimization problems.

关键词： Tools Optimization Runtime Time measurement Approximation algorithms Iron Metadata Metadata data formats time measurement Runtime Approximation algorithms file format Optimization algorithms Iron BENCHMARKS Benchmark testing source program library EQUIPMENT Data Collection Methods

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Software-Defined Radio FPGA Cores: Building towards a Domain-Specific Language

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INTERNATIONAL JOURNAL OF RECONFIGURABLE COMPUTING 2017年第1期2017卷 3925961.1-3925961.28页

作者： Tsoeunyane, Lekhobola Winberg, Simon Inggs, Michael Univ Cape Town Dept Elect Engn Software Defined Radio Grp ZA-7701 Cape Town South Africa Univ Cape Town Dept Elect Engn Radar Remote Sensing Grp ZA-7701 Cape Town South Africa

This paper reports on the design and implementation of an open-source library of parameterizable and reusable Hardware Description Language (HDL) Intellectual Property (IP) cores designed for the development of Software-Defined Radio (SDR) applications that are deployed on FPGA-based reconfigurable computing platforms. The library comprises a set of cores that were chosen, together with their parameters and interfacing schemas, based on recommendations from industry and academic SDR experts. The operation of the SDR cores is first validated and then benchmarked against two other cores libraries of a similar type to show that our cores do not take much more logic elements than existing cores and that they support a comparable maximum clock speed. Finally, we propose our design for a Domain-Specific Language (DSL) and supporting tool-flow, which we are in the process of building using our SDR library and the Delite DSL framework. We intend to take this DSL and supporting framework further to provide a rapid prototyping system for SDR application development to programmers not experienced in HDL coding. We conclude with a summary of the main characteristics of our SDR library and reflect on how our DSL tool-flow could assist other developers working in SDR field.

关键词： Buildings rapid prototype manufacturing equipment Core samples Software radio core SDPR gene application-specific language Libraries Hardware design languages source program library digital subscriber lines

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Human-robot Teaming for Rescue Missions: Team ViGIR's Approach to the 2013 DARPA Robotics Challenge Trials

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JOURNAL OF FIELD ROBOTICS 2015年第3期32卷 352-377页

作者： Kohlbrecher, Stefan Romay, Alberto Stumpf, Alexander Gupta, Anant von Stryk, Oskar Bacim, Felipe Bowman, Doug A. Goins, Alex Balasubramanian, Ravi Conner, David C. Tech Univ Darmstadt CS Dept Simulat Syst Optimizat & Robot Grp D-64289 Darmstadt Hesse Germany Virginia Tech Ctr Human Comp Interact Blacksburg VA 24061 USA Oregon State Univ Robot & Human Control Syst Lab Corvallis OR 97331 USA TORC Robot Blacksburg VA 24060 USA

Team ViGIR entered the 2013 DARPA Robotics Challenge (DRC) with a focus on developing software to enable an operator to guide a humanoid robot through the series of challenge tasks emulating disaster response scenarios. The overarching philosophy was to make our operators full team members and not just mere supervisors. We designed our operator control station (OCS) to allow multiple operators to request and share information as needed to maintain situational awareness under bandwidth constraints, while directing the robot to perform tasks with most planning and control taking place onboard the robot. Given the limited development time, we leveraged a number of open source libraries in both our onboard software and our OCS design;this included significant use of the robot operating system libraries and toolchain. This paper describes the high level approach, including the OCS design and major onboard components, and it presents our DRC Trials results. The paper concludes with a number of lessons learned that are being applied to the final phase of the competition and are useful for related projects as well.

关键词： situational awareness robotisation robotics development time Religious Missions Humanoid robots Robot source program library DARPA

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Log-space harmonic function path planning

Log-space harmonic function path planning

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Kyle Hollins Wray Dirk Ruiken Roderic A. Grupen Shlomo Zilberstein College of Information and Computer Sciences University of Massachusetts Amherst 01002 USA

ISBN: (纸本)9781509037636

We propose a log-space solution for robotic path planning with harmonic functions that solves the long-standing numerical precision problem. We prove that this algorithm: (1) performs the correct computations in log-space, (2) returns the true equivalent path using the log-space mapping, and (3) has a strong error bound given its convergence criterion. We evaluate the algorithm on 7 problem domains. A Graphics Processing Unit (GPU) implementation is also shown to greatly improve performance. We also provide an open source library entitled epic with extensive ROS support and demonstrate this method on a real humanoid robot: the uBot-6. Experiments demonstrate that the log-space solution rapidly produces smooth obstacle-avoiding trajectories, and supports planning in exponentially larger real-world robotic applications.

关键词： Harmonic analysis Path planning Convergence Laplace equations Graphics processing units Mobile robots Path planning Laplace's equation Fourier analysis Mobile robots Graphics Processing Unit Converge source program library convergence criterion harmonic functions

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Implementation of Algorithms for Ballistic Object Model Parametric Identification Based on Radar Measurements

Implementation of Algorithms for Ballistic Object Model Para...

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International Radar Symposium

作者： Kamil Grudowski Tomasz Dorau Miroslaw Sankowski PIT-RADWAR S.A.

ISBN: (纸本)9781479978410

The subject of this work is implementation of algorithms for classification and parametric identification of ballistic models based on radar measurements. This can involve different theoretical approaches and technical solutions. The choice of methods is discussed including mathematical models based on differential equations, numerical integration methods and non-linear optimisation techniques. In addition multi-thread programming techniques are applied in order to adapt implementation to modern multi-core processor architectures. Possibility of using specialised open-source libraries is also analysed with regard to technical aspects and taking into account the specificities of a commercial project and licensing conditions.

关键词： Radar measurement object information model algorithms Parametric TECHNICAL ASPECTS source program library Mathematical Model Multi-core processors

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FITTING 3D MORPHABLE FACE MODELS USING LOCAL FEATURES

FITTING 3D MORPHABLE FACE MODELS USING LOCAL FEATURES

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IEEE International Conference on Image Processing

作者： Patrik Huber Zhen-Hua Feng William Christmas Josef Kittler Matthias Ratsch Centre for Vision Speech and Signal Processing University of Surrey School of IoT Engineering Jiangnan University Image Understandig and Interactive Robotics Reutlingen University

ISBN: (纸本)9781479983407

In this paper, we propose a novel fitting method that uses local image features to fit a 3D Morphable Face Model to 2D images. To overcome the obstacle of optimising a cost function that contains a non-differentiable feature extraction operator, we use a learning-based cascaded regression method that learns the gradient direction from data. The method allows to simultaneously solve for shape and pose parameters. Our method is thoroughly evaluated on Morphable Model generated data and first results on real data are presented. Compared to traditional fitting methods, which use simple raw features like pixel colour or edge maps, local features have been shown to be much more robust against variations in imaging conditions. Our approach is unique in that we are the first to use local features to fit a 3D Morphable Model. Because of the speed of our method, it is applicable for real-time applications. Our cascaded regression framework is available as an open source library at ***/patrikhuber/superviseddescent.

关键词： 3D Morphable Model Cascaded regression Local features 3D reconstruction Supervised descent local image feature three-dimensional displays source program library two dimentional images Face real-time application program cascades

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ChibiFace: A Sensor-Rich Android Tablet-Based Interface for Industrial Robotics

ChibiFace: A Sensor-Rich Android Tablet-Based Interface for ...

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IEEE/SICE International Symposium on System Integration

作者： Birzhan Nurimbetov Artur Saudabayev Damir Temiraliuly Andrey Sakryukin Abzal Serekov Huseyin Atakan Varol Department of Robotics Nazarbayev University

ISBN: (纸本)9781467372435

Tablet computers are advanced sensor-rich units equipped with high computational power and extended communication capability. Even though their primary usage is in consumer electronics, we believe they have high potential in human-robot interaction. Tablets can be programmed to replicate various functions of the head such as vision, hearing, speaking and facial articulations. In this work, we present tablet computer-based robot head ChibiFace. Built on top of the Android operating system, it uses native Android and third party open-source libraries to implement various audio and visual signal processing algorithms, machine learning and system integration with different robot platforms. Experiments carried out in industrial robotics settings show that ChibiFace can enhance the safety of human-robot interaction. Rapid pace of advancement and functional expansion in tablet computers driven by the intense market competition foretells that highly capable, portable and customizable tablet-based human-robot interfaces might be widely accessible in the near future.

关键词： Tablet Computers industrial robots Androids Methyltestosterone functional expansion computational power consumer electronics Systems Integration Third party Audio source program library Human machine interaction high potential communications capability Head

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