Speedup of Interval Type 2 Fuzzy Logic Systems Based on GPU for Robot Navigation

As the number of rules and sample rate for type 2 fuzzy logic systems (T2FLSs) increases, the speed of calculations becomes a problem. The T2FLS has a large membership value of inherent algorithmic parallelism that modern CPU architectures do not exploit. In the T2FLS, many rules and algorithms can be speedup on a graphics processing unit (GPU) as long as the majority of computation a various stages and components are not dependent on each other. This paper demonstrates how to install interval type 2 fuzzy logic systems (IT2-FLSs) on the GPU and experiments for obstacle avoidance behavior of robot navigation. GPU-based calculations are high-performance solution and free up the CPU. The experimental results show that the performance of the GPU is many times faster than CPU

Scalable data clustering using GPUs

The computational demands of multivariate clustering grow rapidly, and therefore processing large data sets, like those found in flow cytometry data, is very time consuming on a single CPU. Fortunately these techniques lend themselves naturally to large scale parallel processing. To address the computational demands, graphics processing units, specifically NVIDIA\u27s CUDA framework and Tesla architecture, were investigated as a low-cost, high performance solution to a number of clustering algorithms. C-means and Expectation Maximization with Gaussian mixture models were implemented using the CUDA framework. The algorithm implementations use a hybrid of CUDA, OpenMP, and MPI to scale to many GPUs on multiple nodes in a high performance computing environment. This framework is envisioned as part of a larger cloud-based workflow service where biologists can apply multiple algorithms and parameter sweeps to their data sets and quickly receive a thorough set of results that can be further analyzed by experts. Improvements over previous GPU-accelerated implementations range from 1.42x to 21x for C-means and 3.72x to 5.65x for the Gaussian mixture model on non-trivial data sets. Using a single NVIDIA GTX 260 speedups are on average 90x for C-means and 74x for Gaussians with flow cytometry files compared to optimized C code running on a single core of a modern Intel CPU. Using the TeraGrid Lincoln high performance cluster at NCSA C-means achieves 42% parallel efficiency and a CPU speedup of 4794x with 128 Tesla C1060 GPUs. The Gaussian mixture model achieves 72% parallel efficiency and a CPU speedup of 6286x

Speedup of Interval Type 2 Fuzzy Logic Systems Based on GPU for Robot Navigation

As the number of rules and sample rate for type 2 fuzzy logic systems (T2FLSs) increases, the speed of calculations becomes a problem. The T2FLS has a large membership value of inherent algorithmic parallelism that modern CPU architectures do not exploit. In the T2FLS, many rules and algorithms can be speedup on a graphics processing unit (GPU) as long as the majority of computation a various stages and components are not dependent on each other. This paper demonstrates how to install interval type 2 fuzzy logic systems (IT2-FLSs) on the GPU and experiments for obstacle avoidance behavior of robot navigation. GPUbased calculations are high-performance solution and free up the CPU. The experimental results show that the performance of the GPU is many times faster than CPU

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

Text Segmentation in Web Images Using Colour Perception and Topological Features

The research presented in this thesis addresses the problem of Text Segmentation in Web images. Text is routinely created in image form (headers, banners etc.) on Web pages, as an attempt to overcome the stylistic limitations of HTML. This text however, has a potentially high semantic value in terms of indexing and searching for the corresponding Web pages. As current search engine technology does not allow for text extraction and recognition in images, the text in image form is ignored. Moreover, it is desirable to obtain a uniform representation of all visible text of a Web page (for applications such as voice browsing or automated content analysis). This thesis presents two methods for text segmentation in Web images using colour perception and topological features. The nature of Web images and the implicit problems to text segmentation are described, and a study is performed to assess the magnitude of the problem and establish the need for automated text segmentation methods. Two segmentation methods are subsequently presented: the Split-and-Merge segmentation method and the Fuzzy segmentation method. Although approached in a distinctly different way in each method, the safe assumption that a human being should be able to read the text in any given Web Image is the foundation of both methods’ reasoning. This anthropocentric character of the methods along with the use of topological features of connected components, comprise the underlying working principles of the methods. An approach for classifying the connected components resulting from the segmentation methods as either characters or parts of the background is also presented

Rapid Segmentation Techniques for Cardiac and Neuroimage Analysis

Recent technological advances in medical imaging have allowed for the quick acquisition of highly resolved data to aid in diagnosis and characterization of diseases or to guide interventions. In order to to be integrated into a clinical work flow, accurate and robust methods of analysis must be developed which manage this increase in data. Recent improvements in in- expensive commercially available graphics hardware and General-Purpose Programming on Graphics Processing Units (GPGPU) have allowed for many large scale data analysis problems to be addressed in meaningful time and will continue to as parallel computing technology improves. In this thesis we propose methods to tackle two clinically relevant image segmentation problems: a user-guided segmentation of myocardial scar from Late-Enhancement Magnetic Resonance Images (LE-MRI) and a multi-atlas segmentation pipeline to automatically segment and partition brain tissue from multi-channel MRI. Both methods are based on recent advances in computer vision, in particular max-flow optimization that aims at solving the segmentation problem in continuous space. This allows for (approximately) globally optimal solvers to be employed in multi-region segmentation problems, without the particular drawbacks of their discrete counterparts, graph cuts, which typically present with metrication artefacts. Max-flow solvers are generally able to produce robust results, but are known for being computationally expensive, especially with large datasets, such as volume images. Additionally, we propose two new deformable registration methods based on Gauss-Newton optimization and smooth the resulting deformation fields via total-variation regularization to guarantee the problem is mathematically well-posed. We compare the performance of these two methods against four highly ranked and well-known deformable registration methods on four publicly available databases and are able to demonstrate a highly accurate performance with low run times. The best performing variant is subsequently used in a multi-atlas segmentation pipeline for the segmentation of brain tissue and facilitates fast run times for this computationally expensive approach. All proposed methods are implemented using GPGPU for a substantial increase in computational performance and so facilitate deployment into clinical work flows. We evaluate all proposed algorithms in terms of run times, accuracy, repeatability and errors arising from user interactions and we demonstrate that these methods are able to outperform established methods. The presented approaches demonstrate high performance in comparison with established methods in terms of accuracy and repeatability while largely reducing run times due to the employment of GPU hardware

Scribe: A Clustering Approach To Semantic Information Retrieval

Information retrieval is the process of fulfilling a user?s need for information by locating items in a data collection that are similar to a complex query that is often posed in natural language. Latent Semantic Indexing (LSI) was the predominant technique employed at the National Institute of Standards and Technology?s Text Retrieval Conference for many years until limitations of its scalability to large data sets were discovered. This thesis describes SCRIBE, a modification of LSI with improved scalability. SCRIBE clusters its semantic index into discrete volumes described by high-dimensional extensions to computer graphics data structures. SCRIBE?s clustering strategy limits the number of items that must be searched and provides for sub-linear time complexity in the number of documents. Experimental results with a large, natural language document collection demonstrate that SCRIBE achieves retrieval accuracy similar to LSI but requires 1/10 the time