27,256 research outputs found
Proceedings of the 3rd Workshop on Domain-Specific Language Design and Implementation (DSLDI 2015)
The goal of the DSLDI workshop is to bring together researchers and
practitioners interested in sharing ideas on how DSLs should be designed,
implemented, supported by tools, and applied in realistic application contexts.
We are both interested in discovering how already known domains such as graph
processing or machine learning can be best supported by DSLs, but also in
exploring new domains that could be targeted by DSLs. More generally, we are
interested in building a community that can drive forward the development of
modern DSLs. These informal post-proceedings contain the submitted talk
abstracts to the 3rd DSLDI workshop (DSLDI'15), and a summary of the panel
discussion on Language Composition
Efficient Generation of Parallel Spin-images Using Dynamic Loop Scheduling
High performance computing (HPC) systems underwent a significant increase in
their processing capabilities. Modern HPC systems combine large numbers of
homogeneous and heterogeneous computing resources. Scalability is, therefore,
an essential aspect of scientific applications to efficiently exploit the
massive parallelism of modern HPC systems. This work introduces an efficient
version of the parallel spin-image algorithm (PSIA), called EPSIA. The PSIA is
a parallel version of the spin-image algorithm (SIA). The (P)SIA is used in
various domains, such as 3D object recognition, categorization, and 3D face
recognition. EPSIA refers to the extended version of the PSIA that integrates
various well-known dynamic loop scheduling (DLS) techniques. The present work:
(1) Proposes EPSIA, a novel flexible version of PSIA; (2) Showcases the
benefits of applying DLS techniques for optimizing the performance of the PSIA;
(3) Assesses the performance of the proposed EPSIA by conducting several
scalability experiments. The performance results are promising and show that
using well-known DLS techniques, the performance of the EPSIA outperforms the
performance of the PSIA by a factor of 1.2 and 2 for homogeneous and
heterogeneous computing resources, respectively
Regrasp Planning using 10,000s of Grasps
This paper develops intelligent algorithms for robots to reorient objects.
Given the initial and goal poses of an object, the proposed algorithms plan a
sequence of robot poses and grasp configurations that reorient the object from
its initial pose to the goal. While the topic has been studied extensively in
previous work, this paper makes important improvements in grasp planning by
using over-segmented meshes, in data storage by using relational database, and
in regrasp planning by mixing real-world roadmaps. The improvements enable
robots to do robust regrasp planning using 10,000s of grasps and their
relationships in interactive time. The proposed algorithms are validated using
various objects and robots
One machine, one minute, three billion tetrahedra
This paper presents a new scalable parallelization scheme to generate the 3D
Delaunay triangulation of a given set of points. Our first contribution is an
efficient serial implementation of the incremental Delaunay insertion
algorithm. A simple dedicated data structure, an efficient sorting of the
points and the optimization of the insertion algorithm have permitted to
accelerate reference implementations by a factor three. Our second contribution
is a multi-threaded version of the Delaunay kernel that is able to concurrently
insert vertices. Moore curve coordinates are used to partition the point set,
avoiding heavy synchronization overheads. Conflicts are managed by modifying
the partitions with a simple rescaling of the space-filling curve. The
performances of our implementation have been measured on three different
processors, an Intel core-i7, an Intel Xeon Phi and an AMD EPYC, on which we
have been able to compute 3 billion tetrahedra in 53 seconds. This corresponds
to a generation rate of over 55 million tetrahedra per second. We finally show
how this very efficient parallel Delaunay triangulation can be integrated in a
Delaunay refinement mesh generator which takes as input the triangulated
surface boundary of the volume to mesh
A fast and robust patient specific Finite Element mesh registration technique: application to 60 clinical cases
Finite Element mesh generation remains an important issue for patient
specific biomechanical modeling. While some techniques make automatic mesh
generation possible, in most cases, manual mesh generation is preferred for
better control over the sub-domain representation, element type, layout and
refinement that it provides. Yet, this option is time consuming and not suited
for intraoperative situations where model generation and computation time is
critical. To overcome this problem we propose a fast and automatic mesh
generation technique based on the elastic registration of a generic mesh to the
specific target organ in conjunction with element regularity and quality
correction. This Mesh-Match-and-Repair (MMRep) approach combines control over
the mesh structure along with fast and robust meshing capabilities, even in
situations where only partial organ geometry is available. The technique was
successfully tested on a database of 5 pre-operatively acquired complete femora
CT scans, 5 femoral heads partially digitized at intraoperative stage, and 50
CT volumes of patients' heads. The MMRep algorithm succeeded in all 60 cases,
yielding for each patient a hex-dominant, Atlas based, Finite Element mesh with
submillimetric surface representation accuracy, directly exploitable within a
commercial FE software
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