An Optimized Architecture for CGA Operations and Its Application to a Simulated Robotic Arm

Conformal geometric algebra (CGA) is a new geometric computation tool that is attracting growing attention in many research fields, such as computer graphics, robotics, and computer vision. Regarding the robotic applications, new approaches based on CGA have been proposed to efficiently solve problems as the inverse kinematics and grasping of a robotic arm. The hardware acceleration of CGA operations is required to meet real-time performance requirements in embedded robotic platforms. In this paper, we present a novel embedded coprocessor for accelerating CGA operations in robotic tasks. Two robotic algorithms, namely, inverse kinematics and grasping of a human-arm-like kinematics chain, are used to prove the effectiveness of the proposed approach. The coprocessor natively supports the entire set of CGA operations including both basic operations (products, sums/differences, and unary operations) and complex operations as rigid body motion operations (reflections, rotations, translations, and dilations). The coprocessor prototype is implemented on the Xilinx ML510 development platform as a complete system-on-chip (SoC), integrating both a PowerPC processing core and a CGA coprocessing core on the same Xilinx Virtex-5 FPGA chip. Experimental results show speedups of 78x and 246x for inverse kinematics and grasping algorithms, respectively, with respect to the execution on the PowerPC processor

A Brief Review on Mathematical Tools Applicable to Quantum Computing for Modelling and Optimization Problems in Engineering

Since its emergence, quantum computing has enabled a wide spectrum of new possibilities and advantages, including its efficiency in accelerating computational processes exponentially. This has directed much research towards completely novel ways of solving a wide variety of engineering problems, especially through describing quantum versions of many mathematical tools such as Fourier and Laplace transforms, differential equations, systems of linear equations, and optimization techniques, among others. Exploration and development in this direction will revolutionize the world of engineering. In this manuscript, we review the state of the art of these emerging techniques from the perspective of quantum computer development and performance optimization, with a focus on the most common mathematical tools that support engineering applications. This review focuses on the application of these mathematical tools to quantum computer development and performance improvement/optimization. It also identifies the challenges and limitations related to the exploitation of quantum computing and outlines the main opportunities for future contributions. This review aims at offering a valuable reference for researchers in fields of engineering that are likely to turn to quantum computing for solutions. Doi: 10.28991/ESJ-2023-07-01-020 Full Text: PD

New Directions for Contact Integrators

Contact integrators are a family of geometric numerical schemes which guarantee the conservation of the contact structure. In this work we review the construction of both the variational and Hamiltonian versions of these methods. We illustrate some of the advantages of geometric integration in the dissipative setting by focusing on models inspired by recent studies in celestial mechanics and cosmology.Comment: To appear as Chapter 24 in GSI 2021, Springer LNCS 1282

On deep generative modelling methods for protein-protein interaction

Proteins form the basis for almost all biological processes, identifying the interactions that proteins have with themselves, the environment, and each other are critical to understanding their biological function in an organism, and thus the impact of drugs designed to affect them. Consequently a significant body of research and development focuses on methods to analyse and predict protein structure and interactions. Due to the breadth of possible interactions and the complexity of structures, \textit{in sillico} methods are used to propose models of both interaction and structure that can then be verified experimentally. However the computational complexity of protein interaction means that full physical simulation of these processes requires exceptional computational resources and is often infeasible. Recent advances in deep generative modelling have shown promise in correctly capturing complex conditional distributions. These models derive their basic principles from statistical mechanics and thermodynamic modelling. While the learned functions of these methods are not guaranteed to be physically accurate, they result in a similar sampling process to that suggested by the thermodynamic principles of protein folding and interaction. However, limited research has been applied to extending these models to work over the space of 3D rotation, limiting their applicability to protein models. In this thesis we develop an accelerated sampling strategy for faster sampling of potential docking locations, we then address the rotational diffusion limitation by extending diffusion models to the space of $SO(3)$ and finally present a framework for the use of this rotational diffusion model to rigid docking of proteins