Metrological characterization of a vision-based system for relative pose measurements with fiducial marker mapping for spacecrafts

An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface

Enhanced parallel Differential Evolution algorithm for problems in computational systems biology

[Abstract] Many key problems in computational systems biology and bioinformatics can be formulated and solved using a global optimization framework. The complexity of the underlying mathematical models require the use of efficient solvers in order to obtain satisfactory results in reasonable computation times. Metaheuristics are gaining recognition in this context, with Differential Evolution (DE) as one of the most popular methods. However, for most realistic applications, like those considering parameter estimation in dynamic models, DE still requires excessive computation times. Here we consider this latter class of problems and present several enhancements to DE based on the introduction of additional algorithmic steps and the exploitation of parallelism. In particular, we propose an asynchronous parallel implementation of DE which has been extended with improved heuristics to exploit the specific structure of parameter estimation problems in computational systems biology. The proposed method is evaluated with different types of benchmarks problems: (i) black-box global optimization problems and (ii) calibration of non-linear dynamic models of biological systems, obtaining excellent results both in terms of quality of the solution and regarding speedup and scalability.Ministerio de Economía y Competitividad; DPI2011-28112-C04-03Consejo Superior de Investigaciones Científicas; PIE-201170E018Ministerio de Ciencia e Innovación; TIN2013-42148-PGalicia. Consellería de Cultura, Educación e Ordenación Universitaria; GRC2013/05

Improving the Global Fitting Method on Non-Linear Time Series Analysis

In this paper, we are concerned with improving the forecast capabilities of the Global approach to Time Series. We assume that the normal techniques of Global mapping are applied, the noise reduction is performed, etc. Then, using the mathematical foundations behind such approaches, we propose a method that, without a great computational cost, greatly increase the accuracy of the corresponding forecasting

Inner product computation for sparse iterative solvers on\ud distributed supercomputer

Recent years have witnessed that iterative Krylov methods without re-designing are not suitable for distribute supercomputers because of intensive global communications. It is well accepted that re-engineering Krylov methods for prescribed computer architecture is necessary and important to achieve higher performance and scalability. The paper focuses on simple and practical ways to re-organize Krylov methods and improve their performance for current heterogeneous distributed supercomputers. In construct with most of current software development of Krylov methods which usually focuses on efficient matrix vector multiplications, the paper focuses on the way to compute inner products on supercomputers and explains why inner product computation on current heterogeneous distributed supercomputers is crucial for scalable Krylov methods. Communication complexity analysis shows that how the inner product computation can be the bottleneck of performance of (inner) product-type iterative solvers on distributed supercomputers due to global communications. Principles of reducing such global communications are discussed. The importance of minimizing communications is demonstrated by experiments using up to 900 processors. The experiments were carried on a Dawning 5000A, one of the fastest and earliest heterogeneous supercomputers in the world. Both the analysis and experiments indicates that inner product computation is very likely to be the most challenging kernel for inner product-based iterative solvers to achieve exascale

Improving the multi-objective evolutionary optimization algorithm for hydropower reservoir operations in the California Oroville-Thermalito complex

This study demonstrates the application of an improved Evolutionary optimization Algorithm (EA), titled Multi-Objective Complex Evolution Global Optimization Method with Principal Component Analysis and Crowding Distance Operator (MOSPD), for the hydropower reservoir operation of the Oroville-Thermalito Complex (OTC) - a crucial head-water resource for the California State Water Project (SWP). In the OTC's water-hydropower joint management study, the nonlinearity of hydropower generation and the reservoir's water elevation-storage relationship are explicitly formulated by polynomial function in order to closely match realistic situations and reduce linearization approximation errors. Comparison among different curve-fitting methods is conducted to understand the impact of the simplification of reservoir topography. In the optimization algorithm development, techniques of crowding distance and principal component analysis are implemented to improve the diversity and convergence of the optimal solutions towards and along the Pareto optimal set in the objective space. A comparative evaluation among the new algorithm MOSPD, the original Multi-Objective Complex Evolution Global Optimization Method (MOCOM), the Multi-Objective Differential Evolution method (MODE), the Multi-Objective Genetic Algorithm (MOGA), the Multi-Objective Simulated Annealing approach (MOSA), and the Multi-Objective Particle Swarm Optimization scheme (MOPSO) is conducted using the benchmark functions. The results show that best the MOSPD algorithm demonstrated the best and most consistent performance when compared with other algorithms on the test problems. The newly developed algorithm (MOSPD) is further applied to the OTC reservoir releasing problem during the snow melting season in 1998 (wet year), 2000 (normal year) and 2001 (dry year), in which the more spreading and converged non-dominated solutions of MOSPD provide decision makers with better operational alternatives for effectively and efficiently managing the OTC reservoirs in response to the different climates, especially drought, which has become more and more severe and frequent in California

Numerically Stable Recurrence Relations for the Communication Hiding Pipelined Conjugate Gradient Method

Pipelined Krylov subspace methods (also referred to as communication-hiding methods) have been proposed in the literature as a scalable alternative to classic Krylov subspace algorithms for iteratively computing the solution to a large linear system in parallel. For symmetric and positive definite system matrices the pipelined Conjugate Gradient method outperforms its classic Conjugate Gradient counterpart on large scale distributed memory hardware by overlapping global communication with essential computations like the matrix-vector product, thus hiding global communication. A well-known drawback of the pipelining technique is the (possibly significant) loss of numerical stability. In this work a numerically stable variant of the pipelined Conjugate Gradient algorithm is presented that avoids the propagation of local rounding errors in the finite precision recurrence relations that construct the Krylov subspace basis. The multi-term recurrence relation for the basis vector is replaced by two-term recurrences, improving stability without increasing the overall computational cost of the algorithm. The proposed modification ensures that the pipelined Conjugate Gradient method is able to attain a highly accurate solution independently of the pipeline length. Numerical experiments demonstrate a combination of excellent parallel performance and improved maximal attainable accuracy for the new pipelined Conjugate Gradient algorithm. This work thus resolves one of the major practical restrictions for the useability of pipelined Krylov subspace methods.Comment: 15 pages, 5 figures, 1 table, 2 algorithm