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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

引用

15th IEEE International Conference on Robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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Review of methods for object-based coding of stereoscopic and 3D image sequences

Review of methods for object-based coding of stereoscopic an...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： M.G. Strintzis S. Malassiotis Information Processing Laboratory Department of Electrical and Computer Engineering University of Thessaloniki Greece

Object-based coding of stereo sequences is a promising alternative to block-based schemes, since it not only produces fewer coding artifacts but also provides a structural description of the scene useful in many applications. In this paper we review techniques for the object coding of stereoscopic video. The basic structure common to most of the object based techniques in the literature is described. The advantages and shortcomings of these schemes are also discussed. Application of object-based coding to the communication of multi-view image sequences and 3D data is finally presented.

关键词： Image coding Image sequences Layout Application software Biomedical imaging Image reconstruction Image segmentation Information processing Laboratories Stereo vision

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Benchmarking the task graph scheduling algorithms

Benchmarking the task graph scheduling algorithms

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International Symposium on parallel processing

作者： Y.-K. Kwok I. Ahmad Parallel Processing Laboratory School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Department of Computer Science Hong Kong University of Science and Technology Hong Kong China

The problem of scheduling a weighted directed acyclic graph (DAG) to a set of homogeneous processors to minimize the completion time has been extensively studied. The NP-completeness of the problem has instigated researchers to propose a myriad of heuristic algorithms. While these algorithms are individually reported to be efficient, it is not clear how effective they are and how well they compare against each other. A comprehensive performance evaluation and comparison of these algorithms entails addressing a number of difficult issues. One of the issues is that a large number of scheduling algorithms are based upon radically different assumptions, making their comparison on a unified basis a rather intricate task. Another issue is that there is no standard set of benchmarks that can be used to evaluate and compare these algorithms. Furthermore, most algorithms are evaluated using small problem sizes, and it is not clear how their performance scales with the problem size. The authors first provide a taxonomy for classifying various algorithms into different categories according to their assumptions and functionalities. They then propose a set of benchmarks which are of diverse structures without being biased towards a particular scheduling technique and still allow variations in important parameters. They have evaluated 15 scheduling algorithms, and compared them using the proposed benchmarks. Based upon the design philosophies and principles behind these algorithms, they interpret the results and discuss why some algorithms perform better than the others.

关键词： Scheduling algorithm Processor scheduling parallel processing Concurrent computing Heuristic algorithms Laboratories computer science Taxonomy Algorithm design and analysis Scalability

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A comparative study of five parallel genetic algorithms using the traveling salesman problem

A comparative study of five parallel genetic algorithms usin...

引用

International Symposium on parallel processing

作者： L. Wang A.A. Maciejewski H.J. Siegel V.P. Roychowdhury Microsoft Corporation Redmond WA USA Parallel Processing Laboratory School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Electrical Engineering Department UCLA Los Angeles CA USA

parallel generic algorithms (PGAs) have been developed to reduce the large execution times that are associated with serial generic algorithms (SGAs). They have also been used to solve larger problems and to find better solutions. A comparative analysis of five different coarse-grained PGAs is conducted using the traveling salesman problem as the basis of this case study. To make fair comparisons, all of these PGAs are based on the same baseline SGA, implemented on the same parallel machine (IBM SP2), tested on the same set of traveling salesman problem instances, and started from the same set of initial populations. As a result of the experiments conducted in this study, a particular PGA that combines a new subtour technique with a known migration approach is identified to be the best for the traveling salesman problem among the five PGAs being compared.

关键词： Genetic algorithms Traveling salesman problems Electronics packaging Cities and towns Testing parallel machines Space exploration computer architecture Contracts parallel processing

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Distributed center location algorithm for fault-tolerant multicast in wide-area networks

Distributed center location algorithm for fault-tolerant mul...

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Reliable Distributed Systems

作者： S. Ali A. Khokhar Scalable and Parallel Algorithms Laboratory (ScaPAL) Department of Electrical and Computer Engineering University of Delaware Newark USA

Group shared trees form a major component of most multicast routing protocols (e.g. PIM-SMv2, CBTv3). The shared trees are built by choosing one node as the center of the tree. The optimal location of a center under the constraints of minimal tree cost and delay for a particular group is an NP-complete problem. Current implementations of protocols decide on the location of these centers administratively, an attractive choice given that the solution is obviously sub-optimal and does not lend itself to dynamic reconfiguration of centers. We present a scalable heuristic to find a near-optimal solution to the center location problem. Our solution is easily amenable to distributed implementation and provides the protocol with a list of possible centers ranked in the order of their optimality, therefore providing fault tolerance and reducing the chances of a single point of failure at the center.

关键词： Multicast algorithms Fault tolerance Intelligent networks Multicast protocols Routing protocols Internet Tree graphs parallel algorithms Electronic mail Delay

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Optimal and near-optimal allocation of precedence-constrained tasks to parallel processors: defying the high complexity using effective search techniques

Optimal and near-optimal allocation of precedence-constraine...

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International Conference on parallel processing (ICPP)

作者： I. Ahmad Yu-Kwong Kwok Department of Computer Science Hong Kong University of Science and Technology Hong Kong China Parallel Processing Laboratory School of Electrical and Computer Engineering Purdue University West Lafayette IN USA

Obtaining an optimal schedule for a set of precedence-constrained tasks with arbitrary costs is a well-known NP-complete problem. However, optimal solutions are desired in many situations. In this paper we propose search-based algorithms for determining optimal schedules for moderately large problem sizes. The first algorithm which is based on the A* search technique uses a computationally efficient cost function for guiding the search with reduced complexity. We propose a number of state-pruning techniques to reduce the size of the search space. For further lowering the complexity, we parallelize the search. The parallel version is based on reduced interprocessor communication and is guided by static and dynamic load-balancing schemes to evenly distribute the search states to the processors. We also propose an approximate algorithm that guarantees a bounded deviation from the optimal solution but takes considerably shorter time. Based on an extensive experimental evaluation of the algorithms, we conclude that the parallel algorithm with pruning techniques is an efficient scheme for generating optimal solutions for medium to moderately large problems while the approximate algorithm is a useful alternative if slightly degraded solutions are acceptable.

关键词： Optimal scheduling Processor scheduling Computational efficiency Costs Concurrent computing Network topology Scheduling algorithm computer science Laboratories Multiprocessor interconnection networks

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High-performance mixed-machine heterogeneous computing

High-performance mixed-machine heterogeneous computing

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Euromicro Workshop on parallel and Distributed processing

作者： M. Maheswaran T.D. Braun H.J. Siegel Parallel Processing Laboratory School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Purdue University System West Lafayette IN US

The focus of this invited keynote paper (to be presented by H.J. Siegel) is mixed-machine heterogeneous computing, where a suite of different kinds of high-performance machines are interconnected by high-speed links. Such a system can be orchestrated to perform an application whose subtasks have diverse execution requirements. Subtasks are assigned to and executed on the machines that will result in a minimal overall execution time for the task, considering factors including inter-machine communication overhead. A conceptual model of the automatic decomposition of tasks and assignment of subtasks is presented. Examples of static and dynamic approaches to the matching and scheduling of subtasks are summarized. Some open research problems are discussed.

关键词： Concurrent computing Processor scheduling Dynamic scheduling Application software computer architecture parallel processing Laboratories Indium tin oxide Subcontracting Heuristic algorithms

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Pixel level interleaving schemes for robust image communication

Pixel level interleaving schemes for robust image communicat...

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Reliable Distributed Systems

作者： R. Hasimoto-Beltran A. Khokhar Scalable and Parallel Algorithms Laboratory (ScaPAL) Department of Electrical and Computer Engineering University of Delaware Newark DE USA

Interleaving schemes have proven to be an important mechanism in reducing the effect of network errors on image transmission. Current interleaving schemes spatially decorrelate neighboring image blocks by putting them into packets that are a long way apart from each other in the transmission sequence. Most of the existing schemes, while achieving good performance on random packet losses, do not work well in the case of bursty packet losses. In this paper, we propose two interleaving schemes where the decorrelation process is applied not only at the block level but also at the pixel or coefficient level (i.e. on the information within the blocks) in the compressed domain. The decorrelation is achieved via a k-way shuffle of pixels among the blocks and by using the spatial properties of different space-filling curves, where k depends on the total number of blocks in the image. Our results show that in spite of the decorrelation of coefficients in the triangular interleaving scheme, the compression ratio is within 92% to -98% of JPEG standard compression. We also show that, when compared with existing interleaving schemes, our techniques provide improved image quality and a low mean square error in the transmitted images in the presence of random as well as bursty packet losses in networks.

关键词： Pixel Interleaved codes Robustness Image communication Decorrelation Image coding Performance loss Transform coding Image quality Mean square error methods

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Strings: a high-performance distributed shared memory for symmetrical multiprocessor clusters 98

Strings: a high-performance distributed shared memory for sy...

引用

International Symposium on High Performance Distributed Computing

作者： S. Roy V. Chaudhary Parallel and Distributed Computing Laboratory Department of Electrical and Computer Engineering Wayne State University Detroit MI USA

ISBN: (纸本)9780818685798

Introduces Strings, a high-performance distributed shared memory system designed for clusters of symmetrical multiprocessors (SMPs). The distinguishing feature of this system is the use of a fully multithreaded runtime system, written using POSIX threads. Strings also allows multiple application threads to be run on each node in a cluster. Since most modern UNIX systems can multiplex these threads on kernel-level lightweight processes, applications written using Strings can use all the processors in a SMP machine. This paper describes some of the architectural details of the system and analyzes the performance improvements with two example programs and a few benchmark programs from the SPLASH-2 suite.

关键词： Programming profession Yarn Microprocessors Workstations Sun Concurrent computing Laboratories Fuels Oceans Drugs

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Deconvolution of sensor array signals using scale transform properties

Deconvolution of sensor array signals using scale transform ...

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IEEE-SP International Symposium on Time-Frequency and Time-Scale Analysis

作者： M. Izzetoglu T. Akgul Signal Processing Laboratory Electrical and Computer Engineering Department Drexel University Philadelphia PA USA

In this paper, we present the extension of solutions to the multiscale deconvolution problem which appears in sensor array applications. The sensor outputs are assumed to be generated as a convolution of the unknown source signal, the so-called wavelet, with various time-scaled versions of an unknown impulse response of the medium, namely reflectivity sequences. Methods to deconvolve these signals are available if the scaling effects, referred to as time-scale factors, are truly known. Here we show that time-scale factors between the system impulse responses can be obtained from the sensor array measurements by using the scale transform properties which yield "absolutely blind" multiscale deconvolution scheme.

关键词： Sensor arrays Deconvolution Reflectivity Signal processing Biosensors Application software Convolution Sensor systems Discrete transforms Signal generators

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