MASSIVELY PARALLEL ALGORITHMS FOR POINT CLOUD BASED OBJECT RECOGNITION ON HETEROGENEOUS ARCHITECTURE

With the advent of new commodity depth sensors, point cloud data processing plays an increasingly important role in object recognition and perception. However, the computational cost of point cloud data processing is extremely high due to the large data size, high dimensionality, and algorithmic complexity. To address the computational challenges of real-time processing, this work investigates the possibilities of using modern heterogeneous computing platforms and its supporting ecosystem such as massively parallel architecture (MPA), computing cluster, compute unified device architecture (CUDA), and multithreaded programming to accelerate the point cloud based object recognition. The aforementioned computing platforms would not yield high performance unless the specific features are properly utilized. Failing that the result actually produces an inferior performance. To achieve the high-speed performance in image descriptor computing, indexing, and matching in point cloud based object recognition, this work explores both coarse and fine grain level parallelism, identifies the acceptable levels of algorithmic approximation, and analyzes various performance impactors. A set of heterogeneous parallel algorithms are designed and implemented in this work. These algorithms include exact and approximate scalable massively parallel image descriptors for descriptor computing, parallel construction of k-dimensional tree (KD-tree) and the forest of KD-trees for descriptor indexing, parallel approximate nearest neighbor search (ANNS) and buffered ANNS (BANNS) on the KD-tree and the forest of KD-trees for descriptor matching. The results show that the proposed massively parallel algorithms on heterogeneous computing platforms can significantly improve the execution time performance of feature computing, indexing, and matching. Meanwhile, this work demonstrates that the heterogeneous computing architectures, with appropriate architecture specific algorithms design and optimization, have the distinct advantages of improving the performance of multimedia applications

Data center's telemetry reduction and prediction through modeling techniques

Nowadays, Cloud Computing is widely used to host and deliver services over the Internet. The architecture of clouds is complex due to its heterogeneous nature of hardware and is hosted in large scale data centers. To effectively and efficiently manage such complex infrastructure, constant monitoring is needed. This monitoring generates large amounts of telemetry data streams (e.g. hardware utilization metrics) which are used for multiple purposes including problem detection, resource management, workload characterization, resource utilization prediction, capacity planning, and job scheduling. These telemetry streams require costly bandwidth utilization and storage space particularly at medium-long term for large data centers. Moreover, accurate future estimation of these telemetry streams is a challenging task due to multi-tenant co-hosted applications and dynamic workloads. The inaccurate estimation leads to either under or over-provisioning of data center resources. In this Ph.D. thesis, we propose to improve the prediction accuracy and reduce the bandwidth utilization and storage space requirement with the help of modeling and prediction methods from machine learning. Most of the existing methods are based on a single model which often does not appropriately estimate different workload scenarios. Moreover, these prediction methods use a fixed size of observation windows which cannot produce accurate results because these are not adaptively adjusted to capture the local trends in the recent data. Therefore, the estimation method trains on fixed sliding windows use an irrelevant large number of observations which yields inaccurate estimations. In summary, we C1) efficiently reduce bandwidth and storage for telemetry data through real-time modeling using Markov chain model. C2) propose a novel method to adaptively and automatically identify the most appropriate model to accurately estimate data center resources utilization. C3) propose a deep learning-based adaptive window size selection method which dynamically limits the sliding window size to capture the local trend in the latest resource utilization for building estimation model.Hoy en día, Cloud Computing se usa ampliamente para alojar y prestar servicios a través de Internet. La arquitectura de las nubes es compleja debido a su naturaleza heterogénea del hardware y está alojada en centros de datos a gran escala. Para administrar de manera efectiva y eficiente dicha infraestructura compleja, se necesita un monitoreo constante. Este monitoreo genera grandes cantidades de flujos de datos de telemetría (por ejemplo, métricas de utilización de hardware) que se utilizan para múltiples propósitos, incluyendo detección de problemas, gestión de recursos, caracterización de carga de trabajo, predicción de utilización de recursos, planificación de capacidad y programación de trabajos. Estas transmisiones de telemetría requieren una utilización costosa del ancho de banda y espacio de almacenamiento, particularmente a mediano y largo plazo para grandes centros de datos. Además, la estimación futura precisa de estas transmisiones de telemetría es una tarea difícil debido a las aplicaciones cohospedadas de múltiples inquilinos y las cargas de trabajo dinámicas. La estimación inexacta conduce a un suministro insuficiente o excesivo de los recursos del centro de datos. En este Ph.D. En la tesis, proponemos mejorar la precisión de la predicción y reducir la utilización del ancho de banda y los requisitos de espacio de almacenamiento con la ayuda de métodos de modelado y predicción del aprendizaje automático. La mayoría de los métodos existentes se basan en un modelo único que a menudo no estima adecuadamente diferentes escenarios de carga de trabajo. Además, estos métodos de predicción utilizan un tamaño fijo de ventanas de observación que no pueden producir resultados precisos porque no se ajustan adaptativamente para capturar las tendencias locales en los datos recientes. Por lo tanto, el método de estimación entrena en ventanas corredizas fijas utiliza un gran número de observaciones irrelevantes que produce estimaciones inexactas. En resumen, C1) reducimos eficientemente el ancho de banda y el almacenamiento de datos de telemetría a través del modelado en tiempo real utilizando el modelo de cadena de Markov. C2) proponer un método novedoso para identificar de forma adaptativa y automática el modelo más apropiado para estimar con precisión la utilización de los recursos del centro de datos. C3) proponer un método de selección de tamaño de ventana adaptativo basado en el aprendizaje profundo que limita dinámicamente el tamaño de ventana deslizante para capturar la tendencia local en la última utilización de recursos para el modelo de estimación de construcción.Postprint (published version

Integration and Control of Distributed Renewable Energy Resources

The deployment of distributed renewable energy resources (DRERs) has accelerated globally due to environmental concerns and an increasing demand for electricity. DRERs are considered to be solutions to some of the current challenges related to power grids, such as reliability, resilience, efficiency, and flexibility. However, there are still several technical and non-technical challenges regarding the deployment of distributed renewable energy resources. Technical concerns associated with the integration and control of DRERs include, but are not limited, to optimal sizing and placement, optimal operation in grid-connected and islanded modes, as well as the impact of these resources on power quality, power system security, stability, and protection systems. On the other hand, non-technical challenges can be classified into three categories—regulatory issues, social issues, and economic issues. This Special Issue will address all aspects related to the integration and control of distributed renewable energy resources. It aims to understand the existing challenges and explore new solutions and practices for use in overcoming technical challenges

Quantitative principles of cis-translational control by general mRNA sequence features in eukaryotes.

BackgroundGeneral translational cis-elements are present in the mRNAs of all genes and affect the recruitment, assembly, and progress of preinitiation complexes and the ribosome under many physiological states. These elements include mRNA folding, upstream open reading frames, specific nucleotides flanking the initiating AUG codon, protein coding sequence length, and codon usage. The quantitative contributions of these sequence features and how and why they coordinate to control translation rates are not well understood.ResultsHere, we show that these sequence features specify 42-81% of the variance in translation rates in Saccharomyces cerevisiae, Schizosaccharomyces pombe, Arabidopsis thaliana, Mus musculus, and Homo sapiens. We establish that control by RNA secondary structure is chiefly mediated by highly folded 25-60 nucleotide segments within mRNA 5' regions, that changes in tri-nucleotide frequencies between highly and poorly translated 5' regions are correlated between all species, and that control by distinct biochemical processes is extensively correlated as is regulation by a single process acting in different parts of the same mRNA.ConclusionsOur work shows that general features control a much larger fraction of the variance in translation rates than previously realized. We provide a more detailed and accurate understanding of the aspects of RNA structure that directs translation in diverse eukaryotes. In addition, we note that the strongly correlated regulation between and within cis-control features will cause more even densities of translational complexes along each mRNA and therefore more efficient use of the translation machinery by the cell

Stress Analysis of Operating Gas Pipeline Installed by Horizontal Directional Drilling and Pullback Force Prediction During Installation

With the development of the natural gas industry, the demand for pipeline construction has also increased. In the context of advocating green construction, horizontal directional drilling (HDD), as one of the most widely utilized trenchless methods for pipeline installation, has received extensive attention in industry and academia in recent years. The safety of natural gas pipeline is very important in the process of construction and operation. It is necessary to conduct in-depth study on the safety of the pipeline installed by HDD method. In this dissertation, motivated by the following considerations, two aspects of HDD installation are studied. First, through the literature review, one issue that has not received much attention so far is the presence of stress problem during the operation condition. Thus, two chapters (Chapters 3 and 4) in this dissertation are related to the pipe stress analysis during the operation. Regarding this problem, two cases are considered according to the fluidity of drilling fluid. The more dangerous situation is determined by comparing the pipeline stress in the two working conditions. The stress of pipeline installed by HDD method and open-cut method is also compared, and it indicates that the stress of pipeline installed by HDD method is lower. Moreover, through the analysis of influence factors and stress sensitivity, the influence degree of different parameters on pipeline stress is obtained. Secondly, literature review indicates that the accurate prediction of pullback force in HDD construction is of great significance to construction safety and construction success. However, the accuracy of current analytical methods is not high. In the context of machine learning and big data, three new hybrid data-driven models are proposed in this dissertation (Chapter 5) for near real-time pullback force prediction, including radial basis function neural network with complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN-RBFNN), support vector machine using whale optimization algorithm with CEEMDAN (CEEMDAN-WOA-SVM), and a hybrid model combines random forest (RF) and CEEMDAN. Three novel models have been verified in two projects in China. It is found that the prediction accuracy is dramatically improved compared with the original analytical models (or empirical models). In addition, through the feasibility analysis, the great potential of machine learning model in near real-time prediction is proved. At the end of this dissertation, in addition to summarizing the primary conclusions, three future research directions are also pointed out: (1) stress analysis of pipelines installed by HDD in more complex situations; (2) stress analysis of pipeline during HDD construction; (3) database establishment in HDD engineering

Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination. © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, it can diagnose simultaneous faults, and it is easily implemented

Latest research trends in gait analysis using wearable sensors and machine learning: a systematic review

Gait is the locomotion attained through the movement of limbs and gait analysis examines the patterns (normal/abnormal) depending on the gait cycle. It contributes to the development of various applications in the medical, security, sports, and fitness domains to improve the overall outcome. Among many available technologies, two emerging technologies that play a central role in modern day gait analysis are: A) wearable sensors which provide a convenient, efficient, and inexpensive way to collect data and B) Machine Learning Methods (MLMs) which enable high accuracy gait feature extraction for analysis. Given their prominent roles, this paper presents a review of the latest trends in gait analysis using wearable sensors and Machine Learning (ML). It explores the recent papers along with the publication details and key parameters such as sampling rates, MLMs, wearable sensors, number of sensors, and their locations. Furthermore, the paper provides recommendations for selecting a MLM, wearable sensor and its location for a specific application. Finally, it suggests some future directions for gait analysis and its applications

Scalable Architecture for Integrated Batch and Streaming Analysis of Big Data

Thesis (Ph.D.) - Indiana University, Computer Sciences, 2015As Big Data processing problems evolve, many modern applications demonstrate special characteristics. Data exists in the form of both large historical datasets and high-speed real-time streams, and many analysis pipelines require integrated parallel batch processing and stream processing. Despite the large size of the whole dataset, most analyses focus on specific subsets according to certain criteria. Correspondingly, integrated support for efficient queries and post- query analysis is required. To address the system-level requirements brought by such characteristics, this dissertation proposes a scalable architecture for integrated queries, batch analysis, and streaming analysis of Big Data in the cloud. We verify its effectiveness using a representative application domain - social media data analysis - and tackle related research challenges emerging from each module of the architecture by integrating and extending multiple state-of-the-art Big Data storage and processing systems. In the storage layer, we reveal that existing text indexing techniques do not work well for the unique queries of social data, which put constraints on both textual content and social context. To address this issue, we propose a flexible indexing framework over NoSQL databases to support fully customizable index structures, which can embed necessary social context information for efficient queries. The batch analysis module demonstrates that analysis workflows consist of multiple algorithms with different computation and communication patterns, which are suitable for different processing frameworks. To achieve efficient workflows, we build an integrated analysis stack based on YARN, and make novel use of customized indices in developing sophisticated analysis algorithms. In the streaming analysis module, the high-dimensional data representation of social media streams poses special challenges to the problem of parallel stream clustering. Due to the sparsity of the high-dimensional data, traditional synchronization method becomes expensive and severely impacts the scalability of the algorithm. Therefore, we design a novel strategy that broadcasts the incremental changes rather than the whole centroids of the clusters to achieve scalable parallel stream clustering algorithms. Performance tests using real applications show that our solutions for parallel data loading/indexing, queries, analysis tasks, and stream clustering all significantly outperform implementations using current state-of-the-art technologies