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Solving multi-objective constrained minimum weighted bipartite assignment problem: a case study on energy-aware radio broadcast scheduling

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science China(Information sciences) 2022年第8期65卷 23-38页

作者： Yupeng ZHOU Mingjie FAN Feifei MA Minghao YIN College of Information Science and Technology Northeast Normal University Laboratory of Parallel Software and Computational Science Institute of Software Chinese Academy of Sciences State Key laboratory of Computer Science Institute of Software Chinese Academy of Sciences

This paper proposes a multi-objective constrained minimum weighted bipartite assignment problem(MCMWBAP), which is considered an extension of the classical bipartite matching problem(BMP). We first provide the formulation of the MCMWBAP and prove that it is an NP-hard combinatorial optimization problem. Based on this formulation, multi-objective energy-aware shortwave radio broadcast resource allocation problem(MSRBRAP) application is studied. The goal of this problem is to allocate radio programs to transmission devices to broadcast all radio programs felicitously with a maximized objective of total qualified monitoring sites and a minimized objective of energy consumption. Then, a novel multi-objective hybrid evolutionary algorithm(MOHEA), which is integrated with push and pull initialization, the dynamic resource allocation strategy, and the aggregate local search procedure, is developed to solve the *** proposed method is evaluated using two categories of benchmarks for MCMWBAP together with a real scenario case study for MSRBRAP. Furthermore, the key components of MOHEA are analyzed, and the experimental results demonstrate that MOHEA outperforms two classical multi-objective evolutionary algorithms(NSGA-II and MOEA/D), improving working efficiency.

关键词： constrained minimum weighted bipartite assignment multi-objective energy-aware radio broadcast scheduling evolutionary algorithms dynamic resource allocation aggregate local search

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Fast image matching algorithm based on affine invariants

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Journal of Central South University 2014年第5期21卷 1907-1918页

作者：张毅卢凯高颖慧 National Laboratory for Parallel and Distributed Processing(National University of Defense Technology) College of Computer National University of Defense Technology College of Electronic Science and Engineering National University of Defense Technology

Feature-based image matching algorithms play an indispensable role in automatic target recognition （ATR）. In this work, a fast image matching algorithm （FIMA） is proposed which utilizes the geometry feature of extended centroid （EC） to build affine invariants. Based on at-fine invariants of the length ratio of two parallel line segments, FIMA overcomes the invalidation problem of the state-of-the-art algorithms based on affine geometry features, and increases the feature diversity of different targets, thus reducing misjudgment rate during recognizing targets. However, it is found that FIMA suffers from the parallelogram contour problem and the coincidence invalidation. An advanced FIMA is designed to cope with these problems. Experiments prove that the proposed algorithms have better robustness for Gaussian noise, gray-scale change, contrast change, illumination and small three-dimensional rotation. Compared with the latest fast image matching algorithms based on geometry features, FIMA reaches the speedup of approximate 1.75 times. Thus, FIMA would be more suitable for actual ATR applications.

关键词： affine invariants image matching extended centroid robustness performance

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A Distributed Computing Framework Based on Lightweight Variance Reduction Method to Accelerate Machine Learning Training on Blockchain

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China Communications 2020年第9期17卷 77-89页

作者： Zhen Huang Feng Liu Mingxing Tang Jinyan Qiu Yuxing Peng Science and Technology on Parallel and Distributed Laboratory National University of Defense TechnologyChangsha 410000China H.R.Support Center PLABeijing 100000China

To security support large-scale intelligent applications,distributed machine learning based on blockchain is an intuitive solution ***,the distributed machine learning is difficult to train due to that the corresponding optimization solver algorithms converge slowly,which highly demand on computing and memory *** overcome the challenges,we propose a distributed computing framework for L-BFGS optimization algorithm based on variance reduction method,which is a lightweight,few additional cost and parallelized scheme for the model training *** validate the claims,we have conducted several experiments on multiple classical *** show that our proposed computing framework can steadily accelerate the training process of solver in either local mode or distributed mode.

关键词： machine learning optimization algorithm blockchain distributed computing variance reduction

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Application of parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair Robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Detailed and clock-driven simulation for HPC interconnection network

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Frontiers of Computer science 2016年第5期10卷 797-811页

作者： Wenhao ZHOU Juan CHEN Chen CUI Qian WANG Dezun DONG Yuhua TANG State Key Laboratory of High Performance Computing School of Computer National University of Defense Technology Changsha 410073 China Science and Technology on Parallel and Distributed Processing Laboratory National University of Defense Technology Changsha 410073 China

Performance and energy consumption of high performance computing （HPC） interconnection networks have a great significance in the whole supercomputer, and building up HPC interconnection network simulation plat- form is very important for the research on HPC software and hardware technologies. To effectively evaluate the per- formance and energy consumption of HPC interconnection networks, this article designs and implements a detailed and clock-driven HPC interconnection network simulation plat- form, called HPC-NetSim. HPC-NetSim uses application- driven workloads and inherits the characteristics of the de- tailed and flexible cycle-accurate network simulator. Besides, it offers a large set of configurable network parameters in terms of topology and routing, and supports router＇s on/off states. We compare the simulated execution time with the real execution time of Tianhe-2 subsystem and the mean error is only 2.7%. In addition, we simulate the network behaviors with different network structures and low-power modes. The results are also consistent with the theoretical analyses.

关键词： high performance computing clock-driven sim-ulation interconnection network BookSim

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Searching Latent Sub-Goals in Hierarchical Reinforcement Learning as Riemannian Manifold Optimization

Searching Latent Sub-Goals in Hierarchical Reinforcement Lea...

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2022 IEEE International Conference on Multimedia and Expo, ICME 2022

作者： Liu, Sidun Qiao, Peng Dou, Yong Jin, Ruochun National University of Defense Technology Science and Technology on Parallel and Distributed Laboratory Hunan China

ISBN: (数字)9781665485630

ISBN: (纸本)9781665485630

Hierarchical Reinforcement Learning (HRL) is promising to tackle the long-term sparse reward problem. However, goal conditioned HRL, which decomposes the goal into a series of sub-goals, suffers from sub-goal search inefficiency problems when the observation space is too large. This problem is more severe in a visual observation space, since its high latent dimensions, where the complete dynamics information is preserved, exponentially increase the difficulty of sub-goal search. In view of this, we propose to treat the latent space as a manifold, i.e., a Riemannian manifold. Assisted by the Riemannian manifold optimization, sub-goals can be efficiently searched in the higher-dimensional latent space, with the help of preserving the dynamics information efficiently. Experiments on a series of MuJoCo tasks with visual observation show that the proposed Riemannian manifold optimization, compared with the baseline that directly searches for sub-goals in bounded latent space, improves the success rate by 1.5 times on average. In much higher dimensions where the baseline no longer converges, the success rate of the proposed method is maintained. © 2022 IEEE.

关键词： Reinforcement learning

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery Robot System

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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Analysis and Optimization of a Spatial parallel Mechanism for a New 5-DOF Hybrid Serial-parallel Manipulator

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： parallel mechanism Performance indices Optimal design Performance atlas

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Iaso： an autonomous fault-tolerant management system for supercomputers

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Frontiers of Computer science 2014年第3期8卷 378-390页

作者： Kai LU Xiaoping WANG Gen LI Ruibo WANG Wanqing CHI Yongpeng LIU Hongwei TANG Hua FENG Yinghui GAO Science and Technology on Parallel and Distributed Processing Laboratory National University of Defense Technology Changsha 410073 China College of Computer National University of Defense Technology Changsha 410073 China ATR Laboratory National University of Defense Technology Changsha 410073 China

With the increase of system scale, the inherent reliability of supercomputers becomes lower and lower. The cost of fault handling and task recovery increases so rapidly that the reliability issue will soon harm the usability of supercomputers. This issue is referred to as the ＂reliability wall＂, which is regarded as a critical problem for current and future supercomputers. To address this problem, we propose an autonomous fault-tolerant system, named Iaso, in MilkyWay- 2 system. Iaso introduces the concept of autonomous management in supercomputers. By autonomous management, the computer itself, rather than manpower, takes charge of the fault management work. Iaso automatically manage the whole lifecycle of faults, including fault detection, fault diagnosis, fault isolation, and task recovery. Iaso endows the autonomous features with MilkyWay-2 system, such as self-awareness, self-diagnosis, self-healing, and self-protection. With the help of Iaso, the cost of fault handling in supercomputers reduces from several hours to a few seconds. Iaso greatly improves the usability and reliability of MilkyWay-2 system.

关键词： supercomputer autonomous management fault tolerant fault management MilkyWay-2 system

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Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 226-235页

作者： ZHAO Tieshi GENG Mingchao CHEN Yuhang LI Erwei YANG Jiantao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling ***,the traditional representations cannot achieve this because of the absence of coordinate ***,the coordinate invariant method is an important research ***,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is *** on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is ***,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is *** formulae and the dynamics Hessian matrix are proved to be coordinate *** to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is *** index of dynamical coupling based on dynamics Hessian matrix is *** the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics *** screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

关键词： kinematics dynamics Hessian matrix parallel manipulator screw theory

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