474 research outputs found
A Survey of Methods for Converting Unstructured Data to CSG Models
The goal of this document is to survey existing methods for recovering CSG
representations from unstructured data such as 3D point-clouds or polygon
meshes. We review and discuss related topics such as the segmentation and
fitting of the input data. We cover techniques from solid modeling and CAD for
polyhedron to CSG and B-rep to CSG conversion. We look at approaches coming
from program synthesis, evolutionary techniques (such as genetic programming or
genetic algorithm), and deep learning methods. Finally, we conclude with a
discussion of techniques for the generation of computer programs representing
solids (not just CSG models) and higher-level representations (such as, for
example, the ones based on sketch and extrusion or feature based operations).Comment: 29 page
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Ray: A Distributed Execution Engine for the Machine Learning Ecosystem
In recent years, growing data volumes and more sophisticated computational procedures have greatly increased the demand for computational power. Machine learning and artificial intelligence applications, for example, are notorious for their computational requirements. At the same time, Moores law is ending and processor speeds are stalling. As a result, distributed computing has become ubiquitous. While the cloud makes distributed hardware infrastructure widely accessible and therefore offers the potential of horizontal scale, developing these distributed algorithms and applications remains surprisingly hard. This is due to the inherent complexity of concurrent algorithms, the engineering challenges that arise when communicating between many machines, the requirements like fault tolerance and straggler mitigation that arise at large scale and the lack of a general-purpose distributed execution engine that can support a wide variety of applications.In this thesis, we study the requirements for a general-purpose distributed computation model and present a solution that is easy to use yet expressive and resilient to faults. At its core our model takes familiar concepts from serial programming, namely functions and classes, and generalizes them to the distributed world, therefore unifying stateless and stateful distributed computation. This model not only supports many machine learning workloads like training or serving, but is also a good t for cross-cutting machine learning applications like reinforcement learning and data processing applications like streaming or graph processing. We implement this computational model as an open-source system called Ray, which matches or exceeds the performance of specialized systems in many application domains, while also offering horizontally scalability and strong fault tolerance properties
Regression-based motion planning
This thesis explores two novel approaches to sample-based motion planning that utilize regressions as continuous function approximations to reduce the memory cost of planning. The first approach, Field Search Trees (FST) provides a solution for single-start planning by iteratively building local regressions of the cost-to-arrive function. The second approach, the Regression Complex (RC), constructs a complex of cells with each cell containing a regression of the distance between any two points on its boundary, creating a useful data structure for any start and goal planning query. We provide formal definitions of both approaches and experimental results of running the algorithms on different simulated robot systems. We conclude that regression-based motion planning provides key advantages over traditional sample-based motion planning in certain cases, but more work is required to extend these approaches into higher dimensional configuration spaces
A Specification Language for Performance and Economical Analysis of Short Term Data Intensive Energy Management Services
Requirements of Energy Management Services include short and long term processing of data in a massively interconnected scenario. The complexity and variety of short term applications needs methodologies that allow designers to reason about the models taking into account functional and non-functional requirements. In this paper we present a component based specification language for building trustworthy continuous dataflow applications. Component behaviour is defined by Petri Nets in order to translate to the methodology all the advantages derived from a mathematically based executable model to support analysis, verification, simulation and performance evaluation. The paper illustrates how to model and reason with specifications of advanced dataflow abstractions such as smart grids
A Survey on Handover Management in Mobility Architectures
This work presents a comprehensive and structured taxonomy of available
techniques for managing the handover process in mobility architectures.
Representative works from the existing literature have been divided into
appropriate categories, based on their ability to support horizontal handovers,
vertical handovers and multihoming. We describe approaches designed to work on
the current Internet (i.e. IPv4-based networks), as well as those that have
been devised for the "future" Internet (e.g. IPv6-based networks and
extensions). Quantitative measures and qualitative indicators are also
presented and used to evaluate and compare the examined approaches. This
critical review provides some valuable guidelines and suggestions for designing
and developing mobility architectures, including some practical expedients
(e.g. those required in the current Internet environment), aimed to cope with
the presence of NAT/firewalls and to provide support to legacy systems and
several communication protocols working at the application layer
Methods to Improve Applicability and Efficiency of Distributed Data-Centric Compute Frameworks
The success of modern applications depends on the insights they collect from their data repositories. Data repositories for such applications currently exceed exabytes and are rapidly increasing in size, as they collect data from varied sources - web applications, mobile phones, sensors and other connected devices. Distributed storage and data-centric compute frameworks have been invented to store and analyze these large datasets. This dissertation focuses on extending the applicability and improving the efficiency of distributed data-centric compute frameworks
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