21,752 research outputs found
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Solving large scale linear programming problems
The interior point method (IPM) is now well established as a computationaly com-petitive scheme for solving very large scale linear programming problems. The leading variant of the IPM is the primal dual predictor corrector algorithm due to Mehrotra. The main computational efforts in this algorithm are the repeated calculation and solution of a large sparse positive definite system of equations.
We describe an implementation of this algorithm for vector processors. At the heart of the implementation is a vectorized matrix multiplication and Cholesky factorization for sparse matrices.
We identify the parts where vectorization can be beneficial and discuss in details the merits of alternative vectorization techniques. We show that the best way to utilize a vector processor is by exploiting dense computation within the sparse framework and by unrolling loop operations. We further present an extended definition of supernodes, and describe an implementation based on this new approach. We show that although this approach requires more memory it can increase the scope of dense computation substantially with out adding extra operations.
Performance results on standard industrial test problems and comparison between an algorithm that utilizes the extended supernodes and one that utilizes standard supernodes are presented and discussed
Factoring nonnegative matrices with linear programs
This paper describes a new approach, based on linear programming, for
computing nonnegative matrix factorizations (NMFs). The key idea is a
data-driven model for the factorization where the most salient features in the
data are used to express the remaining features. More precisely, given a data
matrix X, the algorithm identifies a matrix C such that X approximately equals
CX and some linear constraints. The constraints are chosen to ensure that the
matrix C selects features; these features can then be used to find a low-rank
NMF of X. A theoretical analysis demonstrates that this approach has guarantees
similar to those of the recent NMF algorithm of Arora et al. (2012). In
contrast with this earlier work, the proposed method extends to more general
noise models and leads to efficient, scalable algorithms. Experiments with
synthetic and real datasets provide evidence that the new approach is also
superior in practice. An optimized C++ implementation can factor a
multigigabyte matrix in a matter of minutes.Comment: 17 pages, 10 figures. Modified theorem statement for robust recovery
conditions. Revised proof techniques to make arguments more elementary.
Results on robustness when rows are duplicated have been superseded by
arxiv.org/1211.668
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Preparing sparse solvers for exascale computing.
Sparse solvers provide essential functionality for a wide variety of scientific applications. Highly parallel sparse solvers are essential for continuing advances in high-fidelity, multi-physics and multi-scale simulations, especially as we target exascale platforms. This paper describes the challenges, strategies and progress of the US Department of Energy Exascale Computing project towards providing sparse solvers for exascale computing platforms. We address the demands of systems with thousands of high-performance node devices where exposing concurrency, hiding latency and creating alternative algorithms become essential. The efforts described here are works in progress, highlighting current success and upcoming challenges. This article is part of a discussion meeting issue 'Numerical algorithms for high-performance computational science'
GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion
Many monocular visual SLAM algorithms are derived from incremental
structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM
method which integrates recent advances made in global SfM. In particular, we
present two main contributions to visual SLAM. First, we solve the visual
odometry problem by a novel rank-1 matrix factorization technique which is more
robust to the errors in map initialization. Second, we adopt a recent global
SfM method for the pose-graph optimization, which leads to a multi-stage linear
formulation and enables L1 optimization for better robustness to false loops.
The combination of these two approaches generates more robust reconstruction
and is significantly faster (4X) than recent state-of-the-art SLAM systems. We
also present a new dataset recorded with ground truth camera motion in a Vicon
motion capture room, and compare our method to prior systems on it and
established benchmark datasets.Comment: 3DV 2017 Project Page: https://frobelbest.github.io/gsla
QR Factorization of Tall and Skinny Matrices in a Grid Computing Environment
Previous studies have reported that common dense linear algebra operations do
not achieve speed up by using multiple geographical sites of a computational
grid. Because such operations are the building blocks of most scientific
applications, conventional supercomputers are still strongly predominant in
high-performance computing and the use of grids for speeding up large-scale
scientific problems is limited to applications exhibiting parallelism at a
higher level. We have identified two performance bottlenecks in the distributed
memory algorithms implemented in ScaLAPACK, a state-of-the-art dense linear
algebra library. First, because ScaLAPACK assumes a homogeneous communication
network, the implementations of ScaLAPACK algorithms lack locality in their
communication pattern. Second, the number of messages sent in the ScaLAPACK
algorithms is significantly greater than other algorithms that trade flops for
communication. In this paper, we present a new approach for computing a QR
factorization -- one of the main dense linear algebra kernels -- of tall and
skinny matrices in a grid computing environment that overcomes these two
bottlenecks. Our contribution is to articulate a recently proposed algorithm
(Communication Avoiding QR) with a topology-aware middleware (QCG-OMPI) in
order to confine intensive communications (ScaLAPACK calls) within the
different geographical sites. An experimental study conducted on the Grid'5000
platform shows that the resulting performance increases linearly with the
number of geographical sites on large-scale problems (and is in particular
consistently higher than ScaLAPACK's).Comment: Accepted at IPDPS10. (IEEE International Parallel & Distributed
Processing Symposium 2010 in Atlanta, GA, USA.
OSQP: An Operator Splitting Solver for Quadratic Programs
We present a general-purpose solver for convex quadratic programs based on
the alternating direction method of multipliers, employing a novel operator
splitting technique that requires the solution of a quasi-definite linear
system with the same coefficient matrix at almost every iteration. Our
algorithm is very robust, placing no requirements on the problem data such as
positive definiteness of the objective function or linear independence of the
constraint functions. It can be configured to be division-free once an initial
matrix factorization is carried out, making it suitable for real-time
applications in embedded systems. In addition, our technique is the first
operator splitting method for quadratic programs able to reliably detect primal
and dual infeasible problems from the algorithm iterates. The method also
supports factorization caching and warm starting, making it particularly
efficient when solving parametrized problems arising in finance, control, and
machine learning. Our open-source C implementation OSQP has a small footprint,
is library-free, and has been extensively tested on many problem instances from
a wide variety of application areas. It is typically ten times faster than
competing interior-point methods, and sometimes much more when factorization
caching or warm start is used. OSQP has already shown a large impact with tens
of thousands of users both in academia and in large corporations
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