Optimal use of computing equipment in an automated industrial inspection context

This thesis deals with automatic defect detection. The objective was to develop the techniques required by a small manufacturing business to make cost-efficient use of inspection technology. In our work on inspection techniques we discuss image acquisition and the choice between custom and general-purpose processing hardware. We examine the classes of general-purpose computer available and study popular operating systems in detail. We highlight the advantages of a hybrid system interconnected via a local area network and develop a sophisticated suite of image-processing software based on it. We quantitatively study the performance of elements of the TCP/IP networking protocol suite and comment on appropriate protocol selection for parallel distributed applications. We implement our own distributed application based on these findings. In our work on inspection algorithms we investigate the potential uses of iterated function series and Fourier transform operators when preprocessing images of defects in aluminium plate acquired using a linescan camera. We employ a multi-layer perceptron neural network trained by backpropagation as a classifier. We examine the effect on the training process of the number of nodes in the hidden layer and the ability of the network to identify faults in images of aluminium plate. We investigate techniques for introducing positional independence into the network's behaviour. We analyse the pattern of weights induced in the network after training in order to gain insight into the logic of its internal representation. We conclude that the backpropagation training process is sufficiently computationally intensive so as to present a real barrier to further development in practical neural network techniques and seek ways to achieve a speed-up. Weconsider the training process as a search problem and arrive at a process involving multiple, parallel search "vectors" and aspects of genetic algorithms. We implement the system as the mentioned distributed application and comment on its performance

GPU Computing for Cognitive Robotics

This thesis presents the first investigation of the impact of GPU computing on cognitive robotics by providing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amounts of computational power, which was until recently provided mostly by standard CPU processors. CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into a highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. This impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This thesis presents several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity enabling the conducting of the novel experiments described herein.European Commission Seventh Framework Programm

The rockerverse : packages and applications for containerisation with R

The Rocker Project provides widely used Docker images for R across different application scenarios. This article surveys downstream projects that build upon the Rocker Project images and presents the current state of R packages for managing Docker images and controlling containers. These use cases cover diverse topics such as package development, reproducible research, collaborative work, cloud-based data processing, and production deployment of services. The variety of applications demonstrates the power of the Rocker Project specifically and containerisation in general. Across the diverse ways to use containers, we identified common themes: reproducible environments, scalability and efficiency, and portability across clouds. We conclude that the current growth and diversification of use cases is likely to continue its positive impact, but see the need for consolidating the Rockerverse ecosystem of packages, developing common practices for applications, and exploring alternative containerisation software