86,075 research outputs found
High-performance Kernel Machines with Implicit Distributed Optimization and Randomization
In order to fully utilize "big data", it is often required to use "big
models". Such models tend to grow with the complexity and size of the training
data, and do not make strong parametric assumptions upfront on the nature of
the underlying statistical dependencies. Kernel methods fit this need well, as
they constitute a versatile and principled statistical methodology for solving
a wide range of non-parametric modelling problems. However, their high
computational costs (in storage and time) pose a significant barrier to their
widespread adoption in big data applications.
We propose an algorithmic framework and high-performance implementation for
massive-scale training of kernel-based statistical models, based on combining
two key technical ingredients: (i) distributed general purpose convex
optimization, and (ii) the use of randomization to improve the scalability of
kernel methods. Our approach is based on a block-splitting variant of the
Alternating Directions Method of Multipliers, carefully reconfigured to handle
very large random feature matrices, while exploiting hybrid parallelism
typically found in modern clusters of multicore machines. Our implementation
supports a variety of statistical learning tasks by enabling several loss
functions, regularization schemes, kernels, and layers of randomized
approximations for both dense and sparse datasets, in a highly extensible
framework. We evaluate the ability of our framework to learn models on data
from applications, and provide a comparison against existing sequential and
parallel libraries.Comment: Work presented at MMDS 2014 (June 2014) and JSM 201
Modelling and solving train scheduling problems under capacity constraints
Many large coal mining operations in Australia rely heavily on the rail network to transport coal from mines to coal terminals at ports for shipment. Over the last few years, due to the fast growing demand, the coal rail network is becoming one of the worst industrial bottlenecks in Australia. As a result, this provides great incentives for pursuing better optimisation and control strategies for the operation of the whole rail transportation system under network and terminal capacity constraints. This PhD research aims to achieve a significant efficiency improvement in a coal rail network on the basis of the development of standard modelling approaches and generic solution techniques. Generally, the train scheduling problem can be modelled as a Blocking Parallel- Machine Job-Shop Scheduling (BPMJSS) problem. In a BPMJSS model for train scheduling, trains and sections respectively are synonymous with jobs and machines and an operation is regarded as the movement/traversal of a train across a section. To begin, an improved shifting bottleneck procedure algorithm combined with metaheuristics has been developed to efficiently solve the Parallel-Machine Job- Shop Scheduling (PMJSS) problems without the blocking conditions. Due to the lack of buffer space, the real-life train scheduling should consider blocking or hold-while-wait constraints, which means that a track section cannot release and must hold a train until the next section on the routing becomes available. As a consequence, the problem has been considered as BPMJSS with the blocking conditions. To develop efficient solution techniques for BPMJSS, extensive studies on the nonclassical scheduling problems regarding the various buffer conditions (i.e. blocking, no-wait, limited-buffer, unlimited-buffer and combined-buffer) have been done. In this procedure, an alternative graph as an extension of the classical disjunctive graph is developed and specially designed for the non-classical scheduling problems such as the blocking flow-shop scheduling (BFSS), no-wait flow-shop scheduling (NWFSS), and blocking job-shop scheduling (BJSS) problems. By exploring the blocking characteristics based on the alternative graph, a new algorithm called the topological-sequence algorithm is developed for solving the non-classical scheduling problems. To indicate the preeminence of the proposed algorithm, we compare it with two known algorithms (i.e. Recursive Procedure and Directed Graph) in the literature. Moreover, we define a new type of non-classical scheduling problem, called combined-buffer flow-shop scheduling (CBFSS), which covers four extreme cases: the classical FSS (FSS) with infinite buffer, the blocking FSS (BFSS) with no buffer, the no-wait FSS (NWFSS) and the limited-buffer FSS (LBFSS). After exploring the structural properties of CBFSS, we propose an innovative constructive algorithm named the LK algorithm to construct the feasible CBFSS schedule. Detailed numerical illustrations for the various cases are presented and analysed. By adjusting only the attributes in the data input, the proposed LK algorithm is generic and enables the construction of the feasible schedules for many types of non-classical scheduling problems with different buffer constraints. Inspired by the shifting bottleneck procedure algorithm for PMJSS and characteristic analysis based on the alternative graph for non-classical scheduling problems, a new constructive algorithm called the Feasibility Satisfaction Procedure (FSP) is proposed to obtain the feasible BPMJSS solution. A real-world train scheduling case is used for illustrating and comparing the PMJSS and BPMJSS models. Some real-life applications including considering the train length, upgrading the track sections, accelerating a tardy train and changing the bottleneck sections are discussed. Furthermore, the BPMJSS model is generalised to be a No-Wait Blocking Parallel- Machine Job-Shop Scheduling (NWBPMJSS) problem for scheduling the trains with priorities, in which prioritised trains such as express passenger trains are considered simultaneously with non-prioritised trains such as freight trains. In this case, no-wait conditions, which are more restrictive constraints than blocking constraints, arise when considering the prioritised trains that should traverse continuously without any interruption or any unplanned pauses because of the high cost of waiting during travel. In comparison, non-prioritised trains are allowed to enter the next section immediately if possible or to remain in a section until the next section on the routing becomes available. Based on the FSP algorithm, a more generic algorithm called the SE algorithm is developed to solve a class of train scheduling problems in terms of different conditions in train scheduling environments. To construct the feasible train schedule, the proposed SE algorithm consists of many individual modules including the feasibility-satisfaction procedure, time-determination procedure, tune-up procedure and conflict-resolve procedure algorithms. To find a good train schedule, a two-stage hybrid heuristic algorithm called the SE-BIH algorithm is developed by combining the constructive heuristic (i.e. the SE algorithm) and the local-search heuristic (i.e. the Best-Insertion- Heuristic algorithm). To optimise the train schedule, a three-stage algorithm called the SE-BIH-TS algorithm is developed by combining the tabu search (TS) metaheuristic with the SE-BIH algorithm. Finally, a case study is performed for a complex real-world coal rail network under network and terminal capacity constraints. The computational results validate that the proposed methodology would be very promising because it can be applied as a fundamental tool for modelling and solving many real-world scheduling problems
When the path is never shortest: a reality check on shortest path biocomputation
Shortest path problems are a touchstone for evaluating the computing
performance and functional range of novel computing substrates. Much has been
published in recent years regarding the use of biocomputers to solve minimal
path problems such as route optimisation and labyrinth navigation, but their
outputs are typically difficult to reproduce and somewhat abstract in nature,
suggesting that both experimental design and analysis in the field require
standardising. This chapter details laboratory experimental data which probe
the path finding process in two single-celled protistic model organisms,
Physarum polycephalum and Paramecium caudatum, comprising a shortest path
problem and labyrinth navigation, respectively. The results presented
illustrate several of the key difficulties that are encountered in categorising
biological behaviours in the language of computing, including biological
variability, non-halting operations and adverse reactions to experimental
stimuli. It is concluded that neither organism examined are able to efficiently
or reproducibly solve shortest path problems in the specific experimental
conditions that were tested. Data presented are contextualised with biological
theory and design principles for maximising the usefulness of experimental
biocomputer prototypes.Comment: To appear in: Adamatzky, A (Ed.) Shortest path solvers. From software
to wetware. Springer, 201
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
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