An improved Physarum polycephalum algorithm for the shortest path problem.
Zhang, Xiaoge; Wang, Qing; Adamatzky, Andrew; Chan, Felix T S; Mahadevan, Sankaran; Deng, Yong
2014-01-01
Shortest path is among classical problems of computer science. The problems are solved by hundreds of algorithms, silicon computing architectures and novel substrate, unconventional, computing devices. Acellular slime mould P. polycephalum is originally famous as a computing biological substrate due to its alleged ability to approximate shortest path from its inoculation site to a source of nutrients. Several algorithms were designed based on properties of the slime mould. Many of the Physarum-inspired algorithms suffer from a low converge speed. To accelerate the search of a solution and reduce a number of iterations we combined an original model of Physarum-inspired path solver with a new a parameter, called energy. We undertook a series of computational experiments on approximating shortest paths in networks with different topologies, and number of nodes varying from 15 to 2000. We found that the improved Physarum algorithm matches well with existing Physarum-inspired approaches yet outperforms them in number of iterations executed and a total running time. We also compare our algorithm with other existing algorithms, including the ant colony optimization algorithm and Dijkstra algorithm. PMID:24982960
An Improved Physarum polycephalum Algorithm for the Shortest Path Problem
Wang, Qing; Adamatzky, Andrew; Chan, Felix T. S.; Mahadevan, Sankaran
2014-01-01
Shortest path is among classical problems of computer science. The problems are solved by hundreds of algorithms, silicon computing architectures and novel substrate, unconventional, computing devices. Acellular slime mould P. polycephalum is originally famous as a computing biological substrate due to its alleged ability to approximate shortest path from its inoculation site to a source of nutrients. Several algorithms were designed based on properties of the slime mould. Many of the Physarum-inspired algorithms suffer from a low converge speed. To accelerate the search of a solution and reduce a number of iterations we combined an original model of Physarum-inspired path solver with a new a parameter, called energy. We undertook a series of computational experiments on approximating shortest paths in networks with different topologies, and number of nodes varying from 15 to 2000. We found that the improved Physarum algorithm matches well with existing Physarum-inspired approaches yet outperforms them in number of iterations executed and a total running time. We also compare our algorithm with other existing algorithms, including the ant colony optimization algorithm and Dijkstra algorithm. PMID:24982960
Multiple Object Tracking Using the Shortest Path Faster Association Algorithm
Liu, Heping; Liu, Huaping; Yang, Bin
2014-01-01
To solve the persistently multiple object tracking in cluttered environments, this paper presents a novel tracking association approach based on the shortest path faster algorithm. First, the multiple object tracking is formulated as an integer programming problem of the flow network. Then we relax the integer programming to a standard linear programming problem. Therefore, the global optimum can be quickly obtained using the shortest path faster algorithm. The proposed method avoids the difficulties of integer programming, and it has a lower worst-case complexity than competing methods but better robustness and tracking accuracy in complex environments. Simulation results show that the proposed algorithm takes less time than other state-of-the-art methods and can operate in real time. PMID:25215322
Dynamic behavior of shortest path routing algorithms for communication networks
NASA Astrophysics Data System (ADS)
Bertsekas, D. P.
1980-06-01
Several proposed routing algorithms for store and forward communication networks, including one currently in operation in the ARPANET, route messages along shortest paths computed by using some set of link lengths. When these lengths depend on current traffic conditions as they must in an adaptive algorithm, dynamic behavior questions such as stability convergence, and speed of convergence are of interest. This paper is the first attempt to analyze systematically these issues. It is shown that minimum queuing delay path algorithms tend to exhibit violent oscillatory behavior in the absence of a damping mechanism. The oscillations can be damped by means of several types of schemes, two of which are analyzed in this paper. In the first scheme a constant bias is added to the queuing delay thereby providing a preference towards paths with a small number of links. In the second scheme the effects of several past routings are averaged as, for example, when the link lengths are computed and communicated asynchronously throughout the network.
An improved bio-inspired algorithm for the directed shortest path problem.
Zhang, Xiaoge; Zhang, Yajuan; Deng, Yong
2014-01-01
Because most networks are intrinsically directed, the directed shortest path problem has been one of the fundamental issues in network optimization. In this paper, a novel algorithm for finding the shortest path in directed networks is proposed. It extends a bio-inspired path finding model of Physarum polycephalum, which is designed only for undirected networks, by adopting analog circuit analysis. Illustrative examples are given to show the effectiveness of the proposed algorithm in finding the directed shortest path. PMID:25405318
Genetic Algorithm for Solving Fuzzy Shortest Path Problem in a Network with mixed fuzzy arc lengths
NASA Astrophysics Data System (ADS)
Mahdavi, Iraj; Tajdin, Ali; Hassanzadeh, Reza; Mahdavi-Amiri, Nezam; Shafieian, Hosna
2011-06-01
We are concerned with the design of a model and an algorithm for computing a shortest path in a network having various types of fuzzy arc lengths. First, we develop a new technique for the addition of various fuzzy numbers in a path using α -cuts by proposing a linear least squares model to obtain membership functions for the considered additions. Then, using a recently proposed distance function for comparison of fuzzy numbers. we propose a new approach to solve the fuzzy APSPP using of genetic algorithm. Examples are worked out to illustrate the applicability of the proposed model.
An Improved Ant Colony Algorithm for the Shortest Path Problem in Time-Dependent Networks
NASA Astrophysics Data System (ADS)
Chang, Qing; Liu, Yongqiang; Xiong, Huagang
Research of the shortest path problem in time-dependent networks has important practical value. An improved pheromone update strategy suitable for time-dependent networks was proposed. Under this strategy, the residual pheromone of each road can accurately reflect the change of weighted value of each road. An improved selection strategy between adjacent cities was used to compute the cities' transfer probabilities, as a result, the amount of calculation is greatly reduced. To avoid the algorithm converging to the local optimal solution, the ant colony algorithm was combined with genetic algorithm. In this way, the solutions after each traversal were used as the initial species to carry out single-point crossover. An improved ant colony algorithm for the shortest path problem in time-dependent networks based on these improved strategies was presented. The simulation results show that the improved algorithm has greater probability to get the global optimal solution, and the convergence rate of algorithm is better than traditional ant colony algorithm.
Parallel shortest augmenting path algorithm for the assignment problem. Technical report
Balas, E.; Miller, D.; Pekny, J.; Toth, P.
1989-04-01
We describe a parallel version of the shortest augmenting path algorithm for the assignment problem. While generating the initial dual solution and partial assignment in parallel does not require substantive changes in the sequential algorithm, using several augmenting paths in parallel does require a new dual variable recalculation method. The parallel algorithm was tested on a 14-processor Butterfly Plus computer, on problems with up to 900 million variables. The speedup obtained increases with problem size. The algorithm was also embedded into a parallel branch and bound procedure for the traveling salesman problem on a directed graph, which was tested on the Butterfly Plus on problems involving up to 7,500 cities. To our knowledge, these are the largest assignment problems and traveling salesman problems solved so far.
NASA Astrophysics Data System (ADS)
Schafer, Sebastian; Singh, Vikas; Hoffmann, Kenneth R.; Noël, Peter B.; Xu, Jinhui
2007-03-01
Endovascular interventional procedures are being used more frequently in cardiovascular surgery. Unfortunately, procedural failure, e.g., vessel dissection, may occur and is often related to improper guidewire and/or device selection. To support the surgeon's decision process and because of the importance of the guidewire in positioning devices, we propose a method to determine the guidewire path prior to insertion using a model of its elastic potential energy coupled with a representative graph construction. The 3D vessel centerline and sizes are determined for a specified vessel. Points in planes perpendicular to the vessel centerline are generated. For each pair of consecutive planes, a vector set is generated which joins all points in these planes. We construct a graph representing these vector sets as nodes. The nodes representing adjacent vector sets are joined by edges with weights calculated as a function of the angle between the corresponding vectors (nodes). The optimal path through this weighted directed graph is then determined using shortest path algorithms, such as topological sort based shortest path algorithm or Dijkstra's algorithm. Volumetric data of an internal carotid artery phantom (Ø 3.5mm) were acquired. Several independent guidewire (Ø 0.4mm) placements were performed, and the 3D paths were determined using rotational angiography. The average RMS distance between the actual and the average simulated guidewire path was 0.7mm; the computation time to determine the path was 3 seconds. The ability to predict the guidewire path inside vessels may facilitate calculation of vessel-branch access and force estimation on devices and the vessel wall.
Physarum can compute shortest paths.
Bonifaci, Vincenzo; Mehlhorn, Kurt; Varma, Girish
2012-09-21
Physarum polycephalum is a slime mold that is apparently able to solve shortest path problems. A mathematical model has been proposed by Tero et al. (Journal of Theoretical Biology, 244, 2007, pp. 553-564) to describe the feedback mechanism used by the slime mold to adapt its tubular channels while foraging two food sources s(0) and s(1). We prove that, under this model, the mass of the mold will eventually converge to the shortest s(0)-s(1) path of the network that the mold lies on, independently of the structure of the network or of the initial mass distribution. This matches the experimental observations by Tero et al. and can be seen as an example of a "natural algorithm", that is, an algorithm developed by evolution over millions of years. PMID:22732274
Protein-fold recognition using an improved single-source K diverse shortest paths algorithm.
Lhota, John; Xie, Lei
2016-04-01
Protein structure prediction, when construed as a fold recognition problem, is one of the most important applications of similarity search in bioinformatics. A new protein-fold recognition method is reported which combines a single-source K diverse shortest path (SSKDSP) algorithm with Enrichment of Network Topological Similarity (ENTS) algorithm to search a graphic feature space generated using sequence similarity and structural similarity metrics. A modified, more efficient SSKDSP algorithm is developed to improve the performance of graph searching. The new implementation of the SSKDSP algorithm empirically requires 82% less memory and 61% less time than the current implementation, allowing for the analysis of larger, denser graphs. Furthermore, the statistical significance of fold ranking generated from SSKDSP is assessed using ENTS. The reported ENTS-SSKDSP algorithm outperforms original ENTS that uses random walk with restart for the graph search as well as other state-of-the-art protein structure prediction algorithms HHSearch and Sparks-X, as evaluated by a benchmark of 600 query proteins. The reported methods may easily be extended to other similarity search problems in bioinformatics and chemoinformatics. The SSKDSP software is available at http://compsci.hunter.cuny.edu/~leixie/sskdsp.html. Proteins 2016; 84:467-472. © 2016 Wiley Periodicals, Inc. PMID:26800480
Shortest Paths between Shortest Paths and Independent Sets
NASA Astrophysics Data System (ADS)
Kamiński, Marcin; Medvedev, Paul; Milanič, Martin
We study problems of reconfiguration of shortest paths in graphs. We prove that the shortest reconfiguration sequence can be exponential in the size of the graph and that it is NP-hard to compute the shortest reconfiguration sequence even when we know that the sequence has polynomial length. Moreover, we also study reconfiguration of independent sets in three different models and analyze relationships between these models, observing that shortest path reconfiguration is a special case of independent set reconfiguration in perfect graphs, under any of the three models. Finally, we give polynomial results for restricted classes of graphs (even-hole-free and P 4-free graphs).
A fuzzy shortest path with the highest reliability
NASA Astrophysics Data System (ADS)
Keshavarz, Esmaile; Khorram, Esmaile
2009-08-01
This paper concentrates on a shortest path problem on a network where arc lengths (costs) are not deterministic numbers, but imprecise ones. Here, costs of the shortest path problem are fuzzy intervals with increasing membership functions, whereas the membership function of the total cost of the shortest path is a fuzzy interval with a decreasing linear membership function. By the max-min criterion suggested in [R.E. Bellman, L.A. Zade, Decision-making in a fuzzy environment, Management Science 17B (1970) 141-164], the fuzzy shortest path problem can be treated as a mixed integer nonlinear programming problem. We show that this problem can be simplified into a bi-level programming problem that is very solvable. Here, we propose an efficient algorithm, based on the parametric shortest path problem for solving the bi-level programming problem. An illustrative example is given to demonstrate our proposed algorithm.
Shortest path and Schramm-Loewner Evolution
Posé, N.; Schrenk, K. J.; Araújo, N. A. M.; Herrmann, H. J.
2014-01-01
We numerically show that the statistical properties of the shortest path on critical percolation clusters are consistent with the ones predicted for Schramm-Loewner evolution (SLE) curves for κ = 1.04 ± 0.02. The shortest path results from a global optimization process. To identify it, one needs to explore an entire area. Establishing a relation with SLE permits to generate curves statistically equivalent to the shortest path from a Brownian motion. We numerically analyze the winding angle, the left passage probability, and the driving function of the shortest path and compare them to the distributions predicted for SLE curves with the same fractal dimension. The consistency with SLE opens the possibility of using a solid theoretical framework to describe the shortest path and it raises relevant questions regarding conformal invariance and domain Markov properties, which we also discuss. PMID:24975019
Shortest Path Edit Distance for Enhancing UMLS Integration and Audit.
Rudniy, Alex; Geller, James; Song, Min
2010-01-01
Expansion of the UMLS is an important long-term research project. This paper proposes Shortest Path Edit Distance (SPED) as an algorithm for improving existing source-integration and auditing techniques. We use SPED as a string similarity measure for UMLS terms that are known to be synonyms because they are assigned to the same concept. We compare SPED with several other well known string matching algorithms using two UMLS samples as test bed. One of those samples is SNOMED-based. SPED transforms the task of calculating edit distance among two strings into a problem of finding a shortest path from a source to a destination in a node and link graph. In the algorithm, the two strings are used to construct the graph. The Pulling algorithm is applied to find a shortest path, which determines the string similarity value. SPED was superior for one of the data sets, with a precision of 0.6. PMID:21347068
Competition for Shortest Paths on Sparse Graphs
NASA Astrophysics Data System (ADS)
Yeung, Chi Ho; Saad, David
2012-05-01
Optimal paths connecting randomly selected network nodes and fixed routers are studied analytically in the presence of a nonlinear overlap cost that penalizes congestion. Routing becomes more difficult as the number of selected nodes increases and exhibits ergodicity breaking in the case of multiple routers. The ground state of such systems reveals nonmonotonic complex behaviors in average path length and algorithmic convergence, depending on the network topology, and densities of communicating nodes and routers. A distributed linearly scalable routing algorithm is also devised.
Al Nasr, Kamal; Ranjan, Desh; Zubair, Mohammad; Chen, Lin; He, Jing
2014-01-01
Electron cryomicroscopy is becoming a major experimental technique in solving the structures of large molecular assemblies. More and more three-dimensional images have been obtained at the medium resolutions between 5 and 10 Å. At this resolution range, major α-helices can be detected as cylindrical sticks and β-sheets can be detected as plain-like regions. A critical question in de novo modeling from cryo-EM images is to determine the match between the detected secondary structures from the image and those on the protein sequence. We formulate this matching problem into a constrained graph problem and present an O(Δ(2)N(2)2(N)) algorithm to this NP-Hard problem. The algorithm incorporates the dynamic programming approach into a constrained K-shortest path algorithm. Our method, DP-TOSS, has been tested using α-proteins with maximum 33 helices and α-β proteins up to five helices and 12 β-strands. The correct match was ranked within the top 35 for 19 of the 20 α-proteins and all nine α-β proteins tested. The results demonstrate that DP-TOSS improves accuracy, time and memory space in deriving the topologies of the secondary structure elements for proteins with a large number of secondary structures and a complex skeleton. PMID:26355788
ON THE ACCELERATION OF SHORTEST PATH CALCULATIONS IN TRANSPORTATION NETWORKS
BAKER, ZACHARY K.; GOKHALE, MAYA B.
2007-01-08
Shortest path algorithms are a key element of many graph problems. They are used in such applications as online direction finding and navigation, as well as modeling of traffic for large scale simulations of major metropolitan areas. As the shortest path algorithms are an execution bottleneck, it is beneficial to move their execution to parallel hardware such as Field-Programmable Gate Arrays (FPGAs). Hardware implementation is accomplished through the use of a small A core replicated on the order of 20 times on an FPGA device. The objective is to maximize the use of on-board random-access memory bandwidth through the use of multi-threaded latency tolerance. Each shortest path core is responsible for one shortest path calculation, and when it is finished it outputs its result and requests the next source from a queue. One of the innovations of this approach is the use of a small bubble sort core to produce the extract-min function. While bubble sort is not usually considered an appropriate algorithm for any non-trivial usage, it is appropriate in this case as it can produce a single minimum out of the list in O(n) cycles, whwere n is the number of elements in the vertext list. The cost of this min operation does not impact the running time of the architecture, because the queue depth for fetching the next set of edges from memory is roughly equivalent to the number of cores in the system. Additionally, this work provides a collection of simulation results that model the behavior of the node queue in hardware. The results show that a hardware queue, implementing a small bubble-type minimum function, need only be on the order of 16 elements to provide both correct and optimal paths. Because the graph database size is measured in the hundreds of megabytes, the Cray SRAM memory is insufficient. In addition to the A* cores, they have developed a memory management system allowing round-robin servicing of the nodes as well as virtual memory managed over the Hypertransport bus. With support for a DRAM graph store with SRAM-based caching on the FPGA, the system provides a speedup of roughly 8.9x over the CPU-based implementation.
The role of convexity for solving some shortest path problems in plane without triangulation
NASA Astrophysics Data System (ADS)
An, Phan Thanh; Hai, Nguyen Ngoc; Hoai, Tran Van
2013-09-01
Solving shortest path problems inside simple polygons is a very classical problem in motion planning. To date, it has usually relied on triangulation of the polygons. The question: "Can one devise a simple O(n) time algorithm for computing the shortest path between two points in a simple polygon (with n vertices), without resorting to a (complicated) linear-time triangulation algorithm?" raised by J. S. B. Mitchell in Handbook of Computational Geometry (J. Sack and J. Urrutia, eds., Elsevier Science B.V., 2000), is still open. The aim of this paper is to show that convexity contributes to the design of efficient algorithms for solving some versions of shortest path problems (namely, computing the convex hull of a finite set of points and convex rope on rays in 2D, computing approximate shortest path between two points inside a simple polygon) without triangulation on the entire polygons. New algorithms are implemented in C and numerical examples are presented.
An Effective Evolutionary Approach for Bicriteria Shortest Path Routing Problems
NASA Astrophysics Data System (ADS)
Lin, Lin; Gen, Mitsuo
Routing problem is one of the important research issues in communication network fields. In this paper, we consider a bicriteria shortest path routing (bSPR) model dedicated to calculating nondominated paths for (1) the minimum total cost and (2) the minimum transmission delay. To solve this bSPR problem, we propose a new multiobjective genetic algorithm (moGA): (1) an efficient chromosome representation using the priority-based encoding method; (2) a new operator of GA parameters auto-tuning, which is adaptively regulation of exploration and exploitation based on the change of the average fitness of parents and offspring which is occurred at each generation; and (3) an interactive adaptive-weight fitness assignment mechanism is implemented that assigns weights to each objective and combines the weighted objectives into a single objective function. Numerical experiments with various scales of network design problems show the effectiveness and the efficiency of our approach by comparing with the recent researches.
Distributional properties of stochastic shortest paths for smuggled nuclear material
Cuellar, Leticia; Pan, Feng; Roach, Fred; Saeger, Kevin J
2011-01-05
The shortest path problem on a network with fixed weights is a well studied problem with applications to many diverse areas such as transportation and telecommunications. We are particularly interested in the scenario where a nuclear material smuggler tries to succesfully reach herlhis target by identifying the most likely path to the target. The identification of the path relies on reliabilities (weights) associated with each link and node in a multi-modal transportation network. In order to account for the adversary's uncertainty and to perform sensitivity analysis we introduce random reliabilities. We perform some controlled experiments on the grid and present the distributional properties of the resulting stochastic shortest paths.
Two betweenness centrality measures based on Randomized Shortest Paths.
Kivimäki, Ilkka; Lebichot, Bertrand; Saramäki, Jari; Saerens, Marco
2016-01-01
This paper introduces two new closely related betweenness centrality measures based on the Randomized Shortest Paths (RSP) framework, which fill a gap between traditional network centrality measures based on shortest paths and more recent methods considering random walks or current flows. The framework defines Boltzmann probability distributions over paths of the network which focus on the shortest paths, but also take into account longer paths depending on an inverse temperature parameter. RSP's have previously proven to be useful in defining distance measures on networks. In this work we study their utility in quantifying the importance of the nodes of a network. The proposed RSP betweenness centralities combine, in an optimal way, the ideas of using the shortest and purely random paths for analysing the roles of network nodes, avoiding issues involving these two paradigms. We present the derivations of these measures and how they can be computed in an efficient way. In addition, we show with real world examples the potential of the RSP betweenness centralities in identifying interesting nodes of a network that more traditional methods might fail to notice. PMID:26838176
Two betweenness centrality measures based on Randomized Shortest Paths
NASA Astrophysics Data System (ADS)
Kivimäki, Ilkka; Lebichot, Bertrand; Saramäki, Jari; Saerens, Marco
2016-02-01
This paper introduces two new closely related betweenness centrality measures based on the Randomized Shortest Paths (RSP) framework, which fill a gap between traditional network centrality measures based on shortest paths and more recent methods considering random walks or current flows. The framework defines Boltzmann probability distributions over paths of the network which focus on the shortest paths, but also take into account longer paths depending on an inverse temperature parameter. RSP’s have previously proven to be useful in defining distance measures on networks. In this work we study their utility in quantifying the importance of the nodes of a network. The proposed RSP betweenness centralities combine, in an optimal way, the ideas of using the shortest and purely random paths for analysing the roles of network nodes, avoiding issues involving these two paradigms. We present the derivations of these measures and how they can be computed in an efficient way. In addition, we show with real world examples the potential of the RSP betweenness centralities in identifying interesting nodes of a network that more traditional methods might fail to notice.
Two betweenness centrality measures based on Randomized Shortest Paths
Kivimäki, Ilkka; Lebichot, Bertrand; Saramäki, Jari; Saerens, Marco
2016-01-01
This paper introduces two new closely related betweenness centrality measures based on the Randomized Shortest Paths (RSP) framework, which fill a gap between traditional network centrality measures based on shortest paths and more recent methods considering random walks or current flows. The framework defines Boltzmann probability distributions over paths of the network which focus on the shortest paths, but also take into account longer paths depending on an inverse temperature parameter. RSP’s have previously proven to be useful in defining distance measures on networks. In this work we study their utility in quantifying the importance of the nodes of a network. The proposed RSP betweenness centralities combine, in an optimal way, the ideas of using the shortest and purely random paths for analysing the roles of network nodes, avoiding issues involving these two paradigms. We present the derivations of these measures and how they can be computed in an efficient way. In addition, we show with real world examples the potential of the RSP betweenness centralities in identifying interesting nodes of a network that more traditional methods might fail to notice. PMID:26838176
Randomized shortest-path problems: two related models.
Saerens, Marco; Achbany, Youssef; Fouss, François; Yen, Luh
2009-08-01
This letter addresses the problem of designing the transition probabilities of a finite Markov chain (the policy) in order to minimize the expected cost for reaching a destination node from a source node while maintaining a fixed level of entropy spread throughout the network (the exploration). It is motivated by the following scenario. Suppose you have to route agents through a network in some optimal way, for instance, by minimizing the total travel cost-nothing particular up to now-you could use a standard shortest-path algorithm. Suppose, however, that you want to avoid pure deterministic routing policies in order, for instance, to allow some continual exploration of the network, avoid congestion, or avoid complete predictability of your routing strategy. In other words, you want to introduce some randomness or unpredictability in the routing policy (i.e., the routing policy is randomized). This problem, which will be called the randomized shortest-path problem (RSP), is investigated in this work. The global level of randomness of the routing policy is quantified by the expected Shannon entropy spread throughout the network and is provided a priori by the designer. Then, necessary conditions to compute the optimal randomized policy-minimizing the expected routing cost-are derived. Iterating these necessary conditions, reminiscent of Bellman's value iteration equations, allows computing an optimal policy, that is, a set of transition probabilities in each node. Interestingly and surprisingly enough, this first model, while formulated in a totally different framework, is equivalent to Akamatsu's model ( 1996 ), appearing in transportation science, for a special choice of the entropy constraint. We therefore revisit Akamatsu's model by recasting it into a sum-over-paths statistical physics formalism allowing easy derivation of all the quantities of interest in an elegant, unified way. For instance, it is shown that the unique optimal policy can be obtained by solving a simple linear system of equations. This second model is therefore more convincing because of its computational efficiency and soundness. Finally, simulation results obtained on simple, illustrative examples show that the models behave as expected. PMID:19323635
von Thienen, Wolfhard; Metzler, Dirk; Witte, Volker
2015-05-01
The emergence of self-organizing behavior in ants has been modeled in various theoretical approaches in the past decades. One model explains experimental observations in which Argentine ants (Linepithema humile) selected the shorter of two alternative paths from their nest to a food source (shortest path experiments). This model serves as an important example for the emergence of collective behavior and self-organization in biological systems. In addition, it inspired the development of computer algorithms for optimization problems called ant colony optimization (ACO). In the model, a choice function describing how ants react to different pheromone concentrations is fundamental. However, the parameters of the choice function were not deduced experimentally but freely adapted so that the model fitted the observations of the shortest path experiments. Thus, important knowledge was lacking about crucial model assumptions. A recent study on the Argentine ant provided this information by measuring the response of the ants to varying pheromone concentrations. In said study, the above mentioned choice function was fitted to the experimental data and its parameters were deduced. In addition, a psychometric function was fitted to the data and its parameters deduced. Based on these findings, it is possible to test the shortest path model by applying realistic parameter values. Here we present the results of such tests using Monte Carlo simulations of shortest path experiments with Argentine ants. We compare the choice function and the psychometric function, both with parameter values deduced from the above-mentioned experiments. Our results show that by applying the psychometric function, the shortest path experiments can be explained satisfactorily by the model. The study represents the first example of how psychophysical theory can be used to understand and model collective foraging behavior of ants based on trail pheromones. These findings may be important for other models of pheromone guided ant behavior and might inspire improved ACO algorithms. PMID:25769943
Blokh, Dima; Sharan, Roded
2013-01-01
Abstract The graph orientation problem calls for orienting the edges of an undirected graph so as to maximize the number of prespecified source-target vertex pairs that admit a directed path from the source to the target. Most algorithmic approaches to this problem share a common preprocessing step, in which the input graph is reduced to a tree by repeatedly contracting its cycles. Although this reduction is valid from an algorithmic perspective, the assignment of directions to the edges of the contracted cycles becomes arbitrary and, consequently, the connecting source-target paths may be arbitrarily long. In the context of biological networks, the connection of vertex pairs via shortest paths is highly motivated, leading to the following variant: Given an undirected graph and a collection of source-target vertex pairs, assign directions to the edges so as to maximize the number of pairs that are connected by a shortest (in the original graph) directed path. Here we study this variant, provide strong inapproximability results for it, and propose approximation algorithms for the problem, as well as for relaxations where the connecting paths need only be approximately shortest. PMID:24073924
The d-edge shortest-path problem for a Monge graph
Bein, W.W.; Larmore, L.L.; Park, J.K.
1992-07-14
A complete edge-weighted directed graph on vertices 1,2,...,n that assigns cost c(i,j) to the edge (i,j) is called Monge if its edge costs form a Monge array, i.e., for all i < k and j < l, c[i, j]+c[k,l]{le} < c[i,l]+c[k,j]. One reason Monge graphs are interesting is that shortest paths can be computed quite quickly in such graphs. In particular, Wilber showed that the shortest path from vertex 1 to vertex n of a Monge graph can be computed in O(n) time, and Aggarwal, Klawe, Moran, Shor, and Wilber showed that the shortest d-edge 1-to-n path (i.e., the shortest path among all 1-to-n paths with exactly d edges) can be computed in O(dn) time. This paper`s contribution is a new algorithm for the latter problem. Assuming 0 {le} c[i,j] {le} U and c[i,j + 1] + c[i + 1,j] {minus} c[i,j] {minus} c[i + 1, j + 1] {ge} L > 0 for all i and j, our algorithm runs in O(n(1 + 1g(U/L))) time. Thus, when d {much_gt} 1 + 1g(U/L), our algorithm represents a significant improvement over Aggarwal et al.`s O(dn)-time algorithm. We also present several applications of our algorithm; they include length-limited Huffman coding, finding the maximum-perimeter d-gon inscribed in a given convex n-gon, and a digital-signal-compression problem.
A Graph Search Heuristic for Shortest Distance Paths
Chow, E
2005-03-24
This paper presents a heuristic for guiding A* search for finding the shortest distance path between two vertices in a connected, undirected, and explicitly stored graph. The heuristic requires a small amount of data to be stored at each vertex. The heuristic has application to quickly detecting relationships between two vertices in a large information or knowledge network. We compare the performance of this heuristic with breadth-first search on graphs with various topological properties. The results show that one or more orders of magnitude improvement in the number of vertices expanded is possible for large graphs, including Poisson random graphs.
Probabilistic inference and ranking of gene regulatory pathways as a shortest-path problem
2013-01-01
Background Since the advent of microarray technology, numerous methods have been devised to infer gene regulatory relationships from gene expression data. Many approaches that infer entire regulatory networks. This produces results that are rich in information and yet so complex that they are often of limited usefulness for researchers. One alternative unit of regulatory interactions is a linear path between genes. Linear paths are more comprehensible than networks and still contain important information. Such paths can be extracted from inferred regulatory networks or inferred directly. Since criteria for inferring networks generally differs from criteria for inferring paths, indirect and direct inference of paths may achieve different results. Results This paper explores a strategy to infer linear pathways by converting the path inference problem into a shortest-path problem. The edge weights used are the negative log-transformed probabilities of directness derived from the posterior joint distributions of pairwise mutual information between gene expression levels. Directness is inferred using the data processing inequality. The method was designed with two goals. One is to achieve better accuracy in path inference than extraction of paths from inferred networks. The other is to facilitate priorization of interactions for laboratory validation. A method is proposed for achieving this by ranking paths according to the joint probability of directness of each path's edges. The algorithm is evaluated using simulated expression data and is compared to extraction of shortest paths from networks inferred by two alternative methods, ARACNe and a minimum spanning tree algorithm. Conclusions Direct path inference appears to achieve accuracy competitive with that obtained by extracting paths from networks inferred by the other methods. Preliminary exploration of the use of joint edge probabilities to rank paths is largely inconclusive. Suggestions for a better framework for such comparisons are discussed. PMID:24266986
Do people use the shortest path? An empirical test of Wardrop's first principle.
Zhu, Shanjiang; Levinson, David
2015-01-01
Most recent route choice models, following either the random utility maximization or rule-based paradigm, require explicit enumeration of feasible routes. The quality of model estimation and prediction is sensitive to the appropriateness of the consideration set. However, few empirical studies of revealed route characteristics have been reported in the literature. This study evaluates the widely applied shortest path assumption by evaluating routes followed by residents of the Minneapolis-St. Paul metropolitan area. Accurate Global Positioning System (GPS) and Geographic Information System (GIS) data were employed to reveal routes people used over an eight to thirteen week period. Most people did not choose the shortest path. Using three weeks of that data, we find that current route choice set generation algorithms do not reveal the majority of paths that individuals took. Findings from this study may guide future efforts in building better route choice models. PMID:26267756
Do People Use the Shortest Path? An Empirical Test of Wardrop’s First Principle
Zhu, Shanjiang; Levinson, David
2015-01-01
Most recent route choice models, following either the random utility maximization or rule-based paradigm, require explicit enumeration of feasible routes. The quality of model estimation and prediction is sensitive to the appropriateness of the consideration set. However, few empirical studies of revealed route characteristics have been reported in the literature. This study evaluates the widely applied shortest path assumption by evaluating routes followed by residents of the Minneapolis—St. Paul metropolitan area. Accurate Global Positioning System (GPS) and Geographic Information System (GIS) data were employed to reveal routes people used over an eight to thirteen week period. Most people did not choose the shortest path. Using three weeks of that data, we find that current route choice set generation algorithms do not reveal the majority of paths that individuals took. Findings from this study may guide future efforts in building better route choice models. PMID:26267756
Membrane Boundary Extraction Using a Circular Shortest Path Technique
NASA Astrophysics Data System (ADS)
Sun, Changming; Vallotton, Pascal; Wang, Dadong; Lopez, Jamie; Ng, Yvonne; James, David
2007-11-01
Membrane proteins represent over 50% of known drug targets. Accordingly, several widely used assays in the High Content Analysis area rely on quantitative measures of the translocation of proteins between intracellular organelles and the cell surface. In order to increase the sensitivity of these assays, one needs to measure the signal specifically along the membrane, requiring a precise segmentation of this compartment. Doing this manually is a very time-consuming practice, limited to an academic setting. Manual tracing of the membrane compartment also confronts us with issues of objectivity and reproducibility. In this paper, we present an approach based on a circular shortest path technique that enables us to segment the membrane compartment accurately and rapidly. This feature is illustrated using cells expressing epitope-tagged membrane proteins.
Corridor location: the multi-gateway shortest path model
NASA Astrophysics Data System (ADS)
Scaparra, Maria P.; Church, Richard L.; Medrano, F. Antonio
2014-07-01
The problem of corridor location can be found in a number of fields including power transmission, highways, and pipelines. It involves the placement of a corridor or rights-of-way that traverses a landscape starting at an origin and ending at a destination. Since most systems are subject to environmental review, it is important to generate competitive, but different alternatives. This paper addresses the problem of generating efficient, spatially different alternatives to the corridor location problem. We discuss the weaknesses in current models and propose a new approach which is designed to overcome many of these problems. We present an application of this model to a real landscape and compare the results to past work. Overall, the new model called the multi-gateway shortest path problem can generate a wide variety of efficient alignments, which eclipse what could be generated by past work.
Damage detection via shortest-path network sampling
NASA Astrophysics Data System (ADS)
Ciulla, Fabio; Perra, Nicola; Baronchelli, Andrea; Vespignani, Alessandro
2014-05-01
Large networked systems are constantly exposed to local damages and failures that can alter their functionality. The knowledge of the structure of these systems is, however, often derived through sampling strategies whose effectiveness at damage detection has not been thoroughly investigated so far. Here, we study the performance of shortest-path sampling for damage detection in large-scale networks. We define appropriate metrics to characterize the sampling process before and after the damage, providing statistical estimates for the status of nodes (damaged, not damaged). The proposed methodology is flexible and allows tuning the trade-off between the accuracy of the damage detection and the number of probes used to sample the network. We test and measure the efficiency of our approach considering both synthetic and real networks data. Remarkably, in all of the systems studied, the number of correctly identified damaged nodes exceeds the number of false positives, allowing us to uncover the damage precisely.
Training shortest-path tractography: Automatic learning of spatial priors.
Kasenburg, Niklas; Liptrot, Matthew; Reislev, Nina Linde; Ørting, Silas N; Nielsen, Mads; Garde, Ellen; Feragen, Aasa
2016-04-15
Tractography is the standard tool for automatic delineation of white matter tracts from diffusion weighted images. However, the output of tractography often requires post-processing to remove false positives and ensure a robust delineation of the studied tract, and this demands expert prior knowledge. Here we demonstrate how such prior knowledge, or indeed any prior spatial information, can be automatically incorporated into a shortest-path tractography approach to produce more robust results. We describe how such a prior can be automatically generated (learned) from a population, and we demonstrate that our framework also retains support for conventional interactive constraints such as waypoint regions. We apply our approach to the open access, high quality Human Connectome Project data, as well as a dataset acquired on a typical clinical scanner. Our results show that the use of a learned prior substantially increases the overlap of tractography output with a reference atlas on both populations, and this is confirmed by visual inspection. Furthermore, we demonstrate how a prior learned on the high quality dataset significantly increases the overlap with the reference for the more typical yet lower quality data acquired on a clinical scanner. We hope that such automatic incorporation of prior knowledge and the obviation of expert interactive tract delineation on every subject, will improve the feasibility of large clinical tractography studies. PMID:26804779
He, Yunyue; Liu, Zhong; Shi, Jianmai; Wang, Yishan; Zhang, Jiaming; Liu, Jinyuan
2015-01-01
Emergency evacuation aims to transport people from dangerous places to safe shelters as quickly as possible. Police play an important role in the evacuation process, as they can handle traffic accidents immediately and help people move smoothly on roads. This paper investigates an evacuation routing problem that involves police resource allocation. We propose a novel k-th-shortest-path-based technique that uses explicit congestion control to optimize evacuation routing and police resource allocation. A nonlinear mixed-integer programming model is presented to formulate the problem. The model's objective is to minimize the overall evacuation clearance time. Two algorithms are given to solve the problem. The first one linearizes the original model and solves the linearized problem with CPLEX. The second one is a heuristic algorithm that uses a police resource utilization efficiency index to directly solve the original model. This police resource utilization efficiency index significantly aids in the evaluation of road links from an evacuation throughput perspective. The proposed algorithms are tested with a number of examples based on real data from cities of different sizes. The computational results show that the police resource utilization efficiency index is very helpful in finding near-optimal solutions. Additionally, comparing the performance of the heuristic algorithm and the linearization method by using randomly generated examples indicates that the efficiency of the heuristic algorithm is superior. PMID:26226109
He, Yunyue; Liu, Zhong; Shi, Jianmai; Wang, Yishan; Zhang, Jiaming; Liu, Jinyuan
2015-01-01
Emergency evacuation aims to transport people from dangerous places to safe shelters as quickly as possible. Police play an important role in the evacuation process, as they can handle traffic accidents immediately and help people move smoothly on roads. This paper investigates an evacuation routing problem that involves police resource allocation. We propose a novel k-th-shortest-path-based technique that uses explicit congestion control to optimize evacuation routing and police resource allocation. A nonlinear mixed-integer programming model is presented to formulate the problem. The model’s objective is to minimize the overall evacuation clearance time. Two algorithms are given to solve the problem. The first one linearizes the original model and solves the linearized problem with CPLEX. The second one is a heuristic algorithm that uses a police resource utilization efficiency index to directly solve the original model. This police resource utilization efficiency index significantly aids in the evaluation of road links from an evacuation throughput perspective. The proposed algorithms are tested with a number of examples based on real data from cities of different sizes. The computational results show that the police resource utilization efficiency index is very helpful in finding near-optimal solutions. Additionally, comparing the performance of the heuristic algorithm and the linearization method by using randomly generated examples indicates that the efficiency of the heuristic algorithm is superior. PMID:26226109
NASA Astrophysics Data System (ADS)
Kröger, Martin
2005-06-01
We present an algorithm which returns a shortest path and related number of entanglements for a given configuration of a polymeric system in 2 or 3 dimensions. Rubinstein and Helfand, and later Everaers et al. introduced a concept to extract primitive paths for dense polymeric melts made of linear chains (a multiple disconnected multibead 'path'), where each primitive path is defined as a path connecting the (space-fixed) ends of a polymer under the constraint of non-interpenetration (excluded volume) between primitive paths of different chains, such that the multiple disconnected path fulfills a minimization criterion. The present algorithm uses geometrical operations and provides a—model independent—efficient approximate solution to this challenging problem. Primitive paths are treated as 'infinitely' thin (we further allow for finite thickness to model excluded volume), and tensionless lines rather than multibead chains, excluded volume is taken into account without a force law. The present implementation allows to construct a shortest multiple disconnected path (SP) for 2D systems (polymeric chain within spherical obstacles) and an optimal SP for 3D systems (collection of polymeric chains). The number of entanglements is then simply obtained from the SP as either the number of interior kinks, or from the average length of a line segment. Further, information about structure and potentially also the dynamics of entanglements is immediately available from the SP. We apply the method to study the 'concentration' dependence of the degree of entanglement in phantom chain systems. Program summaryTitle of program:Z Catalogue number:ADVG Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADVG Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Computer for which the program is designed and others on which it has been tested: Silicon Graphics (Irix), Sun (Solaris), PC (Linux) Operating systems or monitors under which the program has been tested: UNIX, Linux Program language used: USANSI Fortran 77 and Fortran 90 Memory required to execute with typical data: 1 MByte No. of lines in distributed program, including test data, etc.: 10 660 No. of bytes in distributed program, including test data, etc.: 119 551 Distribution formet:tar.gz Nature of physical problem: The problem is to obtain primitive paths substantiating a shortest multiple disconnected path (SP) for a given polymer configuration (chains of particles, with or without additional single particles as obstacles for the 2D case). Primitive paths are here defined as in [M. Rubinstein, E. Helfand, J. Chem. Phys. 82 (1985) 2477; R. Everaers, S.K. Sukumaran, G.S. Grest, C. Svaneborg, A. Sivasubramanian, K. Kremer, Science 303 (2004) 823] as the shortest line (path) respecting 'topological' constraints (from neighboring polymers or point obstacles) between ends of polymers. There is a unique solution for the 2D case. For the 3D case it is unique if we construct a primitive path of a single chain embedded within fixed line obstacles [J.S.B. Mitchell, Geometric shortest paths and network optimization, in: J.-R. Sack, J. Urrutia (Eds.), Handbook of Computational Geometry, Elsevier, Amsterdam, 2000, pp. 633-701]. For a large 3D configuration made of several chains, short is meant to be the Euclidean shortest multiple disconnected path (SP) where primitive paths are constructed for all chains simultaneously. While the latter problem, in general, does not possess a unique solution, the algorithm must return a locally optimal solution, robust against minor displacements of the disconnected path and chain re-labeling. The problem is solved if the number of kinks (or entanglements Z), explicitly deduced from the SP, is quite insensitive to the exact conformation of the SP which allows to estimate Z with a small error. Efficient method of solution: Primitive paths are constructed from the given polymer configuration (a non-shortest multiple disconnected path, including obstacles, if present) by first replacing each polymer contour by a line with a number of 'kinks' (beads, nodes) and 'segments' (edges). To obtain primitive paths, defined to be uncrossable by any other objects (neighboring primitive paths, line or point obstacles), the algorithm minimizes the length of all primitive paths consecutively, until a final minimum Euclidean length of the SP is reached. Fast geometric operations rather than dynamical methods are used to minimize the contour lengths of the primitive paths. Neighbor lists are used to keep track of potentially intersecting segments of other chains. Periodic boundary conditions are employed. A finite small line thickness is used in order to make sure that entanglements are not 'lost' due to finite precision of representation of numbers. Restrictions on the complexity of the problem: For a single chain embedded within fixed line or point obstacles, the algorithm returns the exact SP. For more complex problems, the algorithm returns a locally optimal SP. Except for exotic, probably rare, configurations it turns out that different locally optimal SPs possess quite an identical number of nodes. In general, the problem constructing the SP is known to be NP-hard [J.S.B. Mitchell, Geometric shortest paths and network optimization, in: J.-R. Sack, J. Urrutia (Eds.), Handbook of Computational Geometry, Elsevier, Amsterdam, 2000, pp. 633-701], and we offer a solution which should suffice to analyze physical problems, and gives an estimate about the precision and uniqueness of the result (from a standard deviation by varying the parameter: cyclicswitch). The program is NOT restricted to handle systems for which segment lengths of the SP exceed half the box size. Typical running time: Typical running times are approximately two orders of magnitude shorter compared with the ones needed for a corresponding molecular dynamics approach, and scale mostly linearly with system size. We provide a benchmark table.
Su, Ran; Sun, Changming; Zhang, Chao; Pham, Tuan D
2014-12-01
Dendritic spines are tiny membranous protrusions from neuron's dendrites. They play a very important role in the nervous system. A number of mental diseases such as Alzheimer's disease and mental retardation are revealed to have close relations with spine morphologies or spine number changes. Spines have various shapes, and spine images are often not of good quality; hence it is very challenging to detect spines in neuron images. This paper presents a novel pipeline to detect dendritic spines in 2D maximum intensity projection (MIP) images and a new dendrite backbone extraction method is developed in the pipeline. The strategy for the backbone extraction approach is that it iteratively refines the extraction result based on directional morphological filtering and improved Hessian filtering until a satisfactory extraction result is obtained. A shortest path method is applied along a backbone to extract the boundary of the dendrites. Spines are then segmented from the dendrites outside the extracted boundary. Touching spines will be split using a marker-controlled watershed algorithm. We present the results of our algorithm on real images and compare our algorithm with two other spine detection methods. The results show that the proposed approach can detect dendrites and spines more accurately. Measurements and classification of spines are also made in this paper. PMID:25155696
The approach for shortest paths in fire succor based on component GIS technology
NASA Astrophysics Data System (ADS)
Han, Jie; Zhao, Yong; Dai, K. W.
2007-06-01
Fire safety is an important issue for the national economy and people's living. Efficiency and exactness of fire department succor directly relate to safety of peoples' lives and property. Many disadvantages of the traditional fire system have been emerged in practical applications. The preparation of pumpers is guided by wireless communication or wire communication, so its real-time and accurate performances are much poorer. The information about the reported fire, such as the position, disaster and map, et al., for alarm and command was processed by persons, which slows the reaction speed and delays the combat opportunity. In order to solve these disadvantages, it has an important role to construct a modern fire command center based on high technology. The construction of modern fire command center can realize the modernization and automation of fire command and management. It will play a great role in protecting safety of peoples' lives and property. The center can enhance battle ability and can reduce the direct and indirect loss of fire damage at most. With the development of science technology, Geographic Information System (GIS) has becoming a new information industry for hardware production, software development, data collection, space analysis and counseling. With the popularization of computers and the development of GIS, GIS has gained increasing broad applications for its strong functionality. Network analysis is one of the most important functions of GIS, and the most elementary and pivotal issue of network analysis is the calculation of shortest paths. The shortest paths are mostly applied to some emergent systems such as 119 fire alarms. These systems mainly require that the computation time of the optimal path should be 1-3 seconds. And during traveling, the next running path of the vehicles should be calculated in time. So the implement of the shortest paths must have a high efficiency. In this paper, the component GIS technology was applied to collect and record the data information (such as, the situation of this disaster, map and road status et al) of the reported fire firstly. The ant colony optimization was used to calculate the shortest path of fire succor secondly. The optimization results were sent to the pumpers, which can let pumpers choose the shortest paths intelligently and come to fire position with least time. The programming method for shortest paths is proposed in section 3. There are three parts in this section. The elementary framework of the proposed programming method is presented in part one. The systematic framework of GIS component is described in part two. The ant colony optimization employed is presented in part three. In section 4, a simple application instance was presented to demonstrate the proposed programming method. There are three parts in this section. The distributed Web application based on component GIS was described in part one. The optimization results without traffic constraint were presented in part two. The optimization results with traffic constraint were presented in part three. The contributions of this paper can be summarized as follows. (1) It proposed an effective approach for shortest paths in fire succor based on component GIS technology. This proposed approach can achieve the real-time decisions of shortest paths for fire succor. (2) It applied the ant colony optimization to implement the shortest path decision. The traffic information was considered in the shortest path decision using ant colony optimization. The final application instance suggests that the proposed approach is feasible, correct and valid.
Li, Longxiang; Gong, Jianhua; Zhou, Jieping
2014-01-01
Effective assessments of air-pollution exposure depend on the ability to accurately predict pollutant concentrations at unmonitored locations, which can be achieved through spatial interpolation. However, most interpolation approaches currently in use are based on the Euclidean distance, which cannot account for the complex nonlinear features displayed by air-pollution distributions in the wind-field. In this study, an interpolation method based on the shortest path distance is developed to characterize the impact of complex urban wind-field on the distribution of the particulate matter concentration. In this method, the wind-field is incorporated by first interpolating the observed wind-field from a meteorological-station network, then using this continuous wind-field to construct a cost surface based on Gaussian dispersion model and calculating the shortest wind-field path distances between locations, and finally replacing the Euclidean distances typically used in Inverse Distance Weighting (IDW) with the shortest wind-field path distances. This proposed methodology is used to generate daily and hourly estimation surfaces for the particulate matter concentration in the urban area of Beijing in May 2013. This study demonstrates that wind-fields can be incorporated into an interpolation framework using the shortest wind-field path distance, which leads to a remarkable improvement in both the prediction accuracy and the visual reproduction of the wind-flow effect, both of which are of great importance for the assessment of the effects of pollutants on human health. PMID:24798197
Li, Longxiang; Gong, Jianhua; Zhou, Jieping
2014-01-01
Effective assessments of air-pollution exposure depend on the ability to accurately predict pollutant concentrations at unmonitored locations, which can be achieved through spatial interpolation. However, most interpolation approaches currently in use are based on the Euclidean distance, which cannot account for the complex nonlinear features displayed by air-pollution distributions in the wind-field. In this study, an interpolation method based on the shortest path distance is developed to characterize the impact of complex urban wind-field on the distribution of the particulate matter concentration. In this method, the wind-field is incorporated by first interpolating the observed wind-field from a meteorological-station network, then using this continuous wind-field to construct a cost surface based on Gaussian dispersion model and calculating the shortest wind-field path distances between locations, and finally replacing the Euclidean distances typically used in Inverse Distance Weighting (IDW) with the shortest wind-field path distances. This proposed methodology is used to generate daily and hourly estimation surfaces for the particulate matter concentration in the urban area of Beijing in May 2013. This study demonstrates that wind-fields can be incorporated into an interpolation framework using the shortest wind-field path distance, which leads to a remarkable improvement in both the prediction accuracy and the visual reproduction of the wind-flow effect, both of which are of great importance for the assessment of the effects of pollutants on human health. PMID:24798197
NASA Astrophysics Data System (ADS)
Huang, Guo-Jiao; Bai, Chao-Ying; Greenhalgh, Stewart
2013-09-01
The traditional grid/cell-based wavefront expansion algorithms, such as the shortest path algorithm, can only find the first arrivals or multiply reflected (or mode converted) waves transmitted from subsurface interfaces, but cannot calculate the other later reflections/conversions having a minimax time path. In order to overcome the above limitations, we introduce the concept of a stationary minimax time path of Fermat's Principle into the multistage irregular shortest path method. Here we extend it from Cartesian coordinates for a flat earth model to global ray tracing of multiple phases in a 3-D complex spherical earth model. The ray tracing results for 49 different kinds of crustal, mantle and core phases show that the maximum absolute traveltime error is less than 0.12 s and the average absolute traveltime error is within 0.09 s when compared with the AK135 theoretical traveltime tables for a 1-D reference model. Numerical tests in terms of computational accuracy and CPU time consumption indicate that the new scheme is an accurate, efficient and a practical way to perform 3-D multiphase arrival tracking in regional or global traveltime tomography.
Modeling the average shortest-path length in growth of word-adjacency networks
NASA Astrophysics Data System (ADS)
Kulig, Andrzej; DroŻdŻ, Stanisław; Kwapień, Jarosław; OświÈ©cimka, Paweł
2015-03-01
We investigate properties of evolving linguistic networks defined by the word-adjacency relation. Such networks belong to the category of networks with accelerated growth but their shortest-path length appears to reveal the network size dependence of different functional form than the ones known so far. We thus compare the networks created from literary texts with their artificial substitutes based on different variants of the Dorogovtsev-Mendes model and observe that none of them is able to properly simulate the novel asymptotics of the shortest-path length. Then, we identify the local chainlike linear growth induced by grammar and style as a missing element in this model and extend it by incorporating such effects. It is in this way that a satisfactory agreement with the empirical result is obtained.
Modeling the average shortest-path length in growth of word-adjacency networks.
Kulig, Andrzej; Drożdż, Stanisław; Kwapień, Jarosław; Oświȩcimka, Paweł
2015-03-01
We investigate properties of evolving linguistic networks defined by the word-adjacency relation. Such networks belong to the category of networks with accelerated growth but their shortest-path length appears to reveal the network size dependence of different functional form than the ones known so far. We thus compare the networks created from literary texts with their artificial substitutes based on different variants of the Dorogovtsev-Mendes model and observe that none of them is able to properly simulate the novel asymptotics of the shortest-path length. Then, we identify the local chainlike linear growth induced by grammar and style as a missing element in this model and extend it by incorporating such effects. It is in this way that a satisfactory agreement with the empirical result is obtained. PMID:25871160
Effective usage of shortest paths promotes transportation efficiency on scale-free networks
NASA Astrophysics Data System (ADS)
Du, Wen-Bo; Wu, Zhi-Xi; Cai, Kai-Quan
2013-09-01
With rapid economic and social development, the problem of traffic congestion is getting more and more serious. Accordingly, network traffic models have attracted extensive attention. In this paper, we introduce a shortest-remaining-path-first queuing strategy into a network traffic model on Barabsi-Albert scale-free networks under efficient routing protocol, where one packets delivery priority is related to its current distance to the destination. Compared with the traditional first-in-first-out queuing strategy, although the network capacity has no evident changes, some other indexes reflecting transportation efficiency are significantly improved in the congestion state. Extensive simulation results and discussions are carried out to explain the phenomena. Our work may be helpful for the designing of optimal networked-traffic systems.
The tomography of human mobility -- what do shortest-path trees reveal?
NASA Astrophysics Data System (ADS)
Grady, Daniel; Thiemann, Christian; Brockmann, Dirk
2010-03-01
Similar to illustrating the anatomy of organs using pictures of tissue slices taken at various depths, we construct shortest-path trees of different nodes to create a tomogram of large-scale mobility networks. This tomography allows us to measure global properties of the system conditioned on a reference location in the network to gain a fuller characterization of a node. Using this technqiue, we discovered a new symmetry that characterizes a large class of mobility networks. Furthermore, introducing the notion of tree similarity, we devised a new technique for clustering nodes with similar topological footprint, yielding a new, unique and efficient method for community identification in these networks and extracting their topological backbone. We applied these methods to a multi-scale human mobility network obtained from the dollar-bill-tracking site wheresgoerge.com and to the U.S. and world-wide air transportation network.
Shortest path ray tracing in cell model with a second-level forward star
NASA Astrophysics Data System (ADS)
Mak, Sum; Koketsu, Kazuki
2011-09-01
The high-level forward star is routinely applied in seismic ray tracing using graph theory (sometimes referred to as the shortest path method) with a grid model. For a cell model, the forward star is often restricted to nodes at the same cell (i.e. first-level forward star). The performance of a cell model with second-level forward stars is found to be comparable in both computation time and accuracy to that of a doubly dense cell model with first-level forward stars. Moreover, the cell model with second-level forward stars has the advantage of halving the required computer storage. An optimization of the secondary node geometry leads to a further 20 per cent improvement in accuracy. Concepts derived from grid models for analytical error estimation are found to be less applicable to cell models. An empirical approach works better in the optimization of the secondary node geometry.
Mining for novel tumor suppressor genes using a shortest path approach.
Chen, Lei; Yang, Jing; Huang, Tao; Kong, Xiangyin; Lu, Lin; Cai, Yu-Dong
2016-03-01
Cancer, being among the most serious diseases, causes many deaths every year. Many investigators have devoted themselves to designing effective treatments for this disease. Cancer always involves abnormal cell growth with the potential to invade or spread to other parts of the body. In contrast, tumor suppressor genes (TSGs) act as guardians to prevent a disordered cell cycle and genomic instability in normal cells. Studies on TSGs can assist in the design of effective treatments against cancer. In this study, we propose a computational method to discover potential TSGs. Based on the known TSGs, a number of candidate genes were selected by applying the shortest path approach in a weighted graph that was constructed using protein-protein interaction network. The analysis of selected genes shows that some of them are new TSGs recently reported in the literature, while others may be novel TSGs. PMID:26209080
Probabilistic shortest path tractography in DTI using Gaussian Process ODE solvers.
Schober, Michael; Kasenburg, Niklas; Feragen, Aasa; Hennig, Philipp; Hauberg, Soren
2014-01-01
Tractography in diffusion tensor imaging estimates connectivity in the brain through observations of local diffusivity. These observations are noisy and of low resolution and, as a consequence, connections cannot be found with high precision. We use probabilistic numerics to estimate connectivity between regions of interest and contribute a Gaussian Process tractography algorithm which allows for both quantification and visualization of its posterior uncertainty. We use the uncertainty both in visualization of individual tracts as well as in heat maps of tract locations. Finally, we provide a quantitative evaluation of different metrics and algorithms showing that the adjoint metric (8] combined with our algorithm produces paths which agree most often with experts. PMID:25320808
Task-parallel implementation of 3D shortest path raytracing for geophysical applications
NASA Astrophysics Data System (ADS)
Giroux, Bernard; Larouche, Benoît
2013-04-01
This paper discusses two variants of the shortest path method and their parallel implementation on a shared-memory system. One variant is designed to perform raytracing in models with stepwise distributions of interval velocity while the other is better suited for continuous velocity models. Both rely on a discretization scheme where primary nodes are located at the corners of cuboid cells and where secondary nodes are found on the edges and sides of the cells. The parallel implementations allow raytracing concurrently for different sources, providing an attractive framework for ray-based tomography. The accuracy and performance of the implementations were measured by comparison with the analytic solution for a layered model and for a vertical gradient model. Mean relative error less than 0.2% was obtained with 5 secondary nodes for the layered model and 9 secondary nodes for the gradient model. Parallel performance depends on the level of discretization refinement, on the number of threads, and on the problem size, with the most determinant variable being the level of discretization refinement (number of secondary nodes). The results indicate that a good trade-off between speed and accuracy is achieved with the number of secondary nodes equal to 5. The programs are written in C++ and rely on the Standard Template Library and OpenMP.
Identification of Thyroid Carcinoma Related Genes with mRMR and Shortest Path Approaches
Ji, Zhenhua; Liu, Haibin; Liu, Yueyang; Peng, Hu; Wu, Jian; Fan, Jingping
2014-01-01
Thyroid cancer is a malignant neoplasm originated from thyroid cells. It can be classified into papillary carcinomas (PTCs) and anaplastic carcinomas (ATCs). Although ATCs are in an very aggressive status and cause more death than PTCs, their difference is poorly understood at molecular level. In this study, we focus on the transcriptome difference among PTCs, ATCs and normal tissue from a published dataset including 45 normal tissues, 49 PTCs and 11 ATCs, by applying a machine learning method, maximum relevance minimum redundancy, and identified 9 genes (BCL2, MRPS31, ID4, RASAL2, DLG2, MY01B, ZBTB5, PRKCQ and PPP6C) and 1 miscRNA (miscellaneous RNA, LOC646736) as important candidates involved in the progression of thyroid cancer. We further identified the protein-protein interaction (PPI) sub network from the shortest paths among the 9 genes in a PPI network constructed based on STRING database. Our results may provide insights to the molecular mechanism of the progression of thyroid cancer. PMID:24718460
Panzacchi, Manuela; Van Moorter, Bram; Strand, Olav; Saerens, Marco; Kivimäki, Ilkka; St Clair, Colleen C; Herfindal, Ivar; Boitani, Luigi
2016-01-01
The loss, fragmentation and degradation of habitat everywhere on Earth prompts increasing attention to identifying landscape features that support animal movement (corridors) or impedes it (barriers). Most algorithms used to predict corridors assume that animals move through preferred habitat either optimally (e.g. least cost path) or as random walkers (e.g. current models), but neither extreme is realistic. We propose that corridors and barriers are two sides of the same coin and that animals experience landscapes as spatiotemporally dynamic corridor-barrier continua connecting (separating) functional areas where individuals fulfil specific ecological processes. Based on this conceptual framework, we propose a novel methodological approach that uses high-resolution individual-based movement data to predict corridor-barrier continua with increased realism. Our approach consists of two innovations. First, we use step selection functions (SSF) to predict friction maps quantifying corridor-barrier continua for tactical steps between consecutive locations. Secondly, we introduce to movement ecology the randomized shortest path algorithm (RSP) which operates on friction maps to predict the corridor-barrier continuum for strategic movements between functional areas. By modulating the parameter Ѳ, which controls the trade-off between exploration and optimal exploitation of the environment, RSP bridges the gap between algorithms assuming optimal movements (when Ѳ approaches infinity, RSP is equivalent to LCP) or random walk (when Ѳ → 0, RSP → current models). Using this approach, we identify migration corridors for GPS-monitored wild reindeer (Rangifer t. tarandus) in Norway. We demonstrate that reindeer movement is best predicted by an intermediate value of Ѳ, indicative of a movement trade-off between optimization and exploration. Model calibration allows identification of a corridor-barrier continuum that closely fits empirical data and demonstrates that RSP outperforms models that assume either optimality or random walk. The proposed approach models the multiscale cognitive maps by which animals likely navigate real landscapes and generalizes the most common algorithms for identifying corridors. Because suboptimal, but non-random, movement strategies are likely widespread, our approach has the potential to predict more realistic corridor-barrier continua for a wide range of species. PMID:25950737
Challenging of path planning algorithms for autonomous robot in known environment
NASA Astrophysics Data System (ADS)
Farah, R. N.; Irwan, N.; Zuraida, Raja Lailatul; Shaharum, Umairah; Hanafi@Omar, Hafiz Mohd
2014-06-01
Most of the mobile robot path planning is estimated to reach its predetermined aim through the shortest path and avoiding the obstacles. This paper is a survey on path planning algorithms of various current research and existing system of Unmanned Ground Vehicles (UGV) where their challenging issues to be intelligent autonomous robot. The focuses are some short reviews on individual papers for UGV in the known environment. Methods and algorithms in path planning for the autonomous robot had been discussed. From the reviews, we obtained that the algorithms proposed are appropriate for some cases such as single or multiple obstacles, static or movement obstacle and optimal shortest path. This paper also describes some pros and cons for every reviewed paper toward algorithms improvement for further work.
NASA Astrophysics Data System (ADS)
Shen, Yi; Ren, Gang; Liu, Yang
2016-06-01
In this paper, we propose a biased-shortest path method with minimal congestion. In the method, we use linear-prediction to estimate the queue length of nodes, and propose a dynamic accepting probability function for nodes to decide whether accept or reject the incoming packets. The dynamic accepting probability function is based on the idea of homogeneous network flow and is developed to enable nodes to coordinate their queue length to avoid congestion. A path strategy incorporated with the linear-prediction of the queue length and the dynamic accepting probability function of nodes is designed to allow packets to be automatically delivered on un-congested paths with short traveling time. Our method has the advantage of low computation cost because the optimal paths are dynamically self-organized by nodes in the delivering process of packets with local traffic information. We compare our method with the existing methods such as the efficient path method (EPS) and the optimal path method (OPS) on the BA scale-free networks and a real example. The numerical computations show that our method performs best for low network load and has minimum run time due to its low computational cost and local routing scheme.
Analyzing the applicability of the least risk path algorithm in indoor space
NASA Astrophysics Data System (ADS)
Vanclooster, A.; Viaene, P.; Van de Weghe, N.; Fack, V.; De Maeyer, Ph.
2013-11-01
Over the last couple of years, applications that support navigation and wayfinding in indoor environments have become one of the booming industries. However, the algorithmic support for indoor navigation has so far been left mostly untouched, as most applications mainly rely on adapting Dijkstra's shortest path algorithm to an indoor network. In outdoor space, several alternative algorithms have been proposed adding a more cognitive notion to the calculated paths and as such adhering to the natural wayfinding behavior (e.g. simplest paths, least risk paths). The need for indoor cognitive algorithms is highlighted by a more challenged navigation and orientation due to the specific indoor structure (e.g. fragmentation, less visibility, confined areas). Therefore, the aim of this research is to extend those richer cognitive algorithms to three-dimensional indoor environments. More specifically for this paper, we will focus on the application of the least risk path algorithm of Grum (2005) to an indoor space. The algorithm as proposed by Grum (2005) is duplicated and tested in a complex multi-story building. Several analyses compare shortest and least risk paths in indoor and in outdoor space. The results of these analyses indicate that the current outdoor least risk path algorithm does not calculate less risky paths compared to its shortest paths. In some cases, worse routes have been suggested. Adjustments to the original algorithm are proposed to be more aligned to the specific structure of indoor environments. In a later stage, other cognitive algorithms will be implemented and tested in both an indoor and combined indoor-outdoor setting, in an effort to improve the overall user experience during navigation in indoor environments.
Yuan, Fei; Zhang, Yu-Hang; Wan, Sibao; Wang, ShaoPeng; Kong, Xiang-Yin
2015-01-01
Pancreatic cancer (PC) is a highly malignant tumor derived from pancreas tissue and is one of the leading causes of death from cancer. Its molecular mechanism has been partially revealed by validating its oncogenes and tumor suppressor genes; however, the available data remain insufficient for medical workers to design effective treatments. Large-scale identification of PC-related genes can promote studies on PC. In this study, we propose a computational method for mining new candidate PC-related genes. A large network was constructed using protein-protein interaction information, and a shortest path approach was applied to mine new candidate genes based on validated PC-related genes. In addition, a permutation test was adopted to further select key candidate genes. Finally, for all discovered candidate genes, the likelihood that the genes are novel PC-related genes is discussed based on their currently known functions. PMID:26613085
Yuan, Fei; Zhou, You; Wang, Meng; Yang, Jing; Wu, Kai; Lu, Changhong; Kong, Xiangyin; Cai, Yu-Dong
2015-01-01
Prostate cancer is a type of cancer that occurs in the male prostate, a gland in the male reproductive system. Because prostate cancer cells may spread to other parts of the body and can influence human reproduction, understanding the mechanisms underlying this disease is critical for designing effective treatments. The identification of as many genes and chemicals related to prostate cancer as possible will enhance our understanding of this disease. In this study, we proposed a computational method to identify new candidate genes and chemicals based on currently known genes and chemicals related to prostate cancer by applying a shortest path approach in a hybrid network. The hybrid network was constructed according to information concerning chemical-chemical interactions, chemical-protein interactions, and protein-protein interactions. Many of the obtained genes and chemicals are associated with prostate cancer. PMID:26504486
Stochastic Evolutionary Algorithms for Planning Robot Paths
NASA Technical Reports Server (NTRS)
Fink, Wolfgang; Aghazarian, Hrand; Huntsberger, Terrance; Terrile, Richard
2006-01-01
A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.
Adaptive path planning: Algorithm and analysis
Chen, Pang C.
1995-03-01
To address the need for a fast path planner, we present a learning algorithm that improves path planning by using past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions difficult tasks. From these solutions, an evolving sparse work of useful robot configurations is learned to support faster planning. More generally, the algorithm provides a framework in which a slow but effective planner may be improved both cost-wise and capability-wise by a faster but less effective planner coupled with experience. We analyze algorithm by formalizing the concept of improvability and deriving conditions under which a planner can be improved within the framework. The analysis is based on two stochastic models, one pessimistic (on task complexity), the other randomized (on experience utility). Using these models, we derive quantitative bounds to predict the learning behavior. We use these estimation tools to characterize the situations in which the algorithm is useful and to provide bounds on the training time. In particular, we show how to predict the maximum achievable speedup. Additionally, our analysis techniques are elementary and should be useful for studying other types of probabilistic learning as well.
Robot path planning using a genetic algorithm
NASA Technical Reports Server (NTRS)
Cleghorn, Timothy F.; Baffes, Paul T.; Wang, Liu
1988-01-01
Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.
Adaptive path planning: Algorithm and analysis
Chen, Pang C.
1993-03-01
Path planning has to be fast to support real-time robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To alleviate this problem, we present a learning algorithm that uses past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful subgoals is learned to support faster planning. The algorithm is suitable for both stationary and incrementally-changing environments. To analyze our algorithm, we use a previously developed stochastic model that quantifies experience utility. Using this model, we characterize the situations in which the adaptive planner is useful, and provide quantitative bounds to predict its behavior. The results are demonstrated with problems in manipulator planning. Our algorithm and analysis are sufficiently general that they may also be applied to task planning or other planning domains in which experience is useful.
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
NASA Astrophysics Data System (ADS)
Mohanty, Prases K.; Parhi, Dayal R.
2014-12-01
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.
An Adaptive Path Planning Algorithm for Cooperating Unmanned Air Vehicles
Cunningham, C.T.; Roberts, R.S.
2000-09-12
An adaptive path planning algorithm is presented for cooperating Unmanned Air Vehicles (UAVs) that are used to deploy and operate land-based sensor networks. The algorithm employs a global cost function to generate paths for the UAVs, and adapts the paths to exceptions that might occur. Examples are provided of the paths and adaptation.
Adaptive path planning algorithm for cooperating unmanned air vehicles
Cunningham, C T; Roberts, R S
2001-02-08
An adaptive path planning algorithm is presented for cooperating Unmanned Air Vehicles (UAVs) that are used to deploy and operate land-based sensor networks. The algorithm employs a global cost function to generate paths for the UAVs, and adapts the paths to exceptions that might occur. Examples are provided of the paths and adaptation.
Improved genetic algorithm for fast path planning of USV
NASA Astrophysics Data System (ADS)
Cao, Lu
2015-12-01
Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for USV(Unmanned Surface Vehicle), an approach of fast path planning based on voronoi diagram and improved Genetic Algorithm is proposed, which makes use of the principle of hierarchical path planning. First the voronoi diagram is utilized to generate the initial paths and then the optimal path is searched by using the improved Genetic Algorithm, which use multiprocessors parallel computing techniques to improve the traditional genetic algorithm. Simulation results verify that the optimal time is greatly reduced and path planning based on voronoi diagram and the improved Genetic Algorithm is more favorable in the real-time operation.
An ordinary differential equation based solution path algorithm
Wu, Yichao
2010-01-01
Efron, Hastie, Johnstone and Tibshirani (2004) proposed Least Angle Regression (LAR), a solution path algorithm for the least squares regression. They pointed out that a slight modification of the LAR gives the LASSO (Tibshirani, 1996) solution path. However it is largely unknown how to extend this solution path algorithm to models beyond the least squares regression. In this work, we propose an extension of the LAR for generalized linear models and the quasi-likelihood model by showing that the corresponding solution path is piecewise given by solutions of ordinary differential equation systems. Our contribution is twofold. First, we provide a theoretical understanding on how the corresponding solution path propagates. Second, we propose an ordinary differential equation based algorithm to obtain the whole solution path. PMID:21532936
Algorithms and Sensors for Small Robot Path Following
NASA Technical Reports Server (NTRS)
Hogg, Robert W.; Rankin, Arturo L.; Roumeliotis, Stergios I.; McHenry, Michael C.; Helmick, Daniel M.; Bergh, Charles F.; Matthies, Larry
2002-01-01
Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.
PCB drill path optimization by combinatorial cuckoo search algorithm.
Lim, Wei Chen Esmonde; Kanagaraj, G; Ponnambalam, S G
2014-01-01
Optimization of drill path can lead to significant reduction in machining time which directly improves productivity of manufacturing systems. In a batch production of a large number of items to be drilled such as printed circuit boards (PCB), the travel time of the drilling device is a significant portion of the overall manufacturing process. To increase PCB manufacturing productivity and to reduce production costs, a good option is to minimize the drill path route using an optimization algorithm. This paper reports a combinatorial cuckoo search algorithm for solving drill path optimization problem. The performance of the proposed algorithm is tested and verified with three case studies from the literature. The computational experience conducted in this research indicates that the proposed algorithm is capable of efficiently finding the optimal path for PCB holes drilling process. PMID:24707198
PCB Drill Path Optimization by Combinatorial Cuckoo Search Algorithm
Lim, Wei Chen Esmonde; Kanagaraj, G.; Ponnambalam, S. G.
2014-01-01
Optimization of drill path can lead to significant reduction in machining time which directly improves productivity of manufacturing systems. In a batch production of a large number of items to be drilled such as printed circuit boards (PCB), the travel time of the drilling device is a significant portion of the overall manufacturing process. To increase PCB manufacturing productivity and to reduce production costs, a good option is to minimize the drill path route using an optimization algorithm. This paper reports a combinatorial cuckoo search algorithm for solving drill path optimization problem. The performance of the proposed algorithm is tested and verified with three case studies from the literature. The computational experience conducted in this research indicates that the proposed algorithm is capable of efficiently finding the optimal path for PCB holes drilling process. PMID:24707198
Path sampling with stochastic dynamics: Some new algorithms
Stoltz, Gabriel . E-mail: stoltz@cermics.enpc.fr
2007-07-01
We propose here some new sampling algorithms for path sampling in the case when stochastic dynamics are used. In particular, we present a new proposal function for equilibrium sampling of paths with a Monte-Carlo dynamics (the so-called 'brownian tube' proposal). This proposal is based on the continuity of the dynamics with respect to the random forcing, and generalizes all previous approaches when stochastic dynamics are used. The efficiency of this proposal is demonstrated using some measure of decorrelation in path space. We also discuss a switching strategy that allows to transform ensemble of paths at a finite rate while remaining at equilibrium, in contrast with the usual Jarzynski like switching. This switching is very interesting to sample constrained paths starting from unconstrained paths, or to perform simulated annealing in a rigorous way.
Mobile transporter path planning using a genetic algorithm approach
NASA Technical Reports Server (NTRS)
Baffes, Paul; Wang, Lui
1988-01-01
The use of an optimization technique known as a genetic algorithm for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the Space Station which must be able to reach any point of the structure autonomously. Specific elements of the genetic algorithm are explored in both a theoretical and experimental sense. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research. However, trajectory planning problems are common in space systems and the genetic algorithm provides an attractive alternative to the classical techniques used to solve these problems.
Mobile Transporter Path Planning Using A Genetic Algorithm Approach
NASA Astrophysics Data System (ADS)
Baffes, Paul; Wang, Lui
1988-10-01
The use of an optimization technique known as a genetic algorithm for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Specific elements of the genetic algorithm are explored in both a theoretical and experimental sense. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research. However, trajectory planning problems are common in space systems and the genetic algorithm provides an attractive alternative to the classical techniques used to solve these problems.
A Bat Algorithm with Mutation for UCAV Path Planning
Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi
2012-01-01
Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models. PMID:23365518
A bat algorithm with mutation for UCAV path planning.
Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi
2012-01-01
Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models. PMID:23365518
Path Planning Algorithms for the Adaptive Sensor Fleet
NASA Technical Reports Server (NTRS)
Stoneking, Eric; Hosler, Jeff
2005-01-01
The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.
Analysis of the contact graph routing algorithm: Bounding interplanetary paths
NASA Astrophysics Data System (ADS)
Birrane, Edward; Burleigh, Scott; Kasch, Niels
2012-06-01
Interplanetary communication networks comprise orbiters, deep-space relays, and stations on planetary surfaces. These networks must overcome node mobility, constrained resources, and significant propagation delays. Opportunities for wireless contact rely on calculating transmit and receive opportunities, but the Euclidean-distance diameter of these networks (measured in light-seconds and light-minutes) precludes node discovery and contact negotiation. Propagation delay may be larger than the line-of-sight contact between nodes. For example, Mars and Earth orbiters may be separated by up to 20.8 min of signal propagation time. Such spacecraft may never share line-of-sight, but may uni-directionally communicate if one orbiter knows the other's future position. The Contact Graph Routing (CGR) approach is a family of algorithms presented to solve the messaging problem of interplanetary communications. These algorithms exploit networks where nodes exhibit deterministic mobility. For CGR, mobility and bandwidth information is pre-configured throughout the network allowing nodes to construct transmit opportunities. Once constructed, routing algorithms operate on this contact graph to build an efficient path through the network. The interpretation of the contact graph, and the construction of a bounded approximate path, is critically important for adoption in operational systems. Brute force approaches, while effective in small networks, are computationally expensive and will not scale. Methods of inferring cycles or other librations within the graph are difficult to detect and will guide the practical implementation of any routing algorithm. This paper presents a mathematical analysis of a multi-destination contact graph algorithm (MD-CGR), demonstrates that it is NP-complete, and proposes realistic constraints that make the problem solvable in polynomial time, as is the case with the originally proposed CGR algorithm. An analysis of path construction to complement hop-by-hop forwarding is presented as the CGR-EB algorithm. Future work is proposed to handle the presence of dynamic changes to the network, as produced by congestion, link disruption, and errors in the contact graph. We conclude that pre-computation, and thus CGR style algorithms, is the only efficient method of routing in a multi-node, multi-path interplanetary network and that algorithmic analysis is the key to its implementation in operational systems.
NASA Astrophysics Data System (ADS)
Pahlavani, Parham; Delavar, Mahmoud R.; Frank, Andrew U.
2012-08-01
The personalized urban multi-criteria quasi-optimum path problem (PUMQPP) is a branch of multi-criteria shortest path problems (MSPPs) and it is classified as a NP-hard problem. To solve the PUMQPP, by considering dependent criteria in route selection, there is a need for approaches that achieve the best compromise of possible solutions/routes. Recently, invasive weed optimization (IWO) algorithm is introduced and used as a novel algorithm to solve many continuous optimization problems. In this study, the modified algorithm of IWO was designed, implemented, evaluated, and compared with the genetic algorithm (GA) to solve the PUMQPP in a directed urban transportation network. In comparison with the GA, the results have shown the significant superiority of the proposed modified IWO algorithm in exploring a discrete search-space of the urban transportation network. In this regard, the proposed modified IWO algorithm has reached better results in fitness function, quality metric and running-time values in comparison with those of the GA.
Path planning algorithms for assembly sequence planning. [in robot kinematics
NASA Technical Reports Server (NTRS)
Krishnan, S. S.; Sanderson, Arthur C.
1991-01-01
Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.
Density shrinking algorithm for community detection with path based similarity
NASA Astrophysics Data System (ADS)
Wu, Jianshe; Hou, Yunting; Jiao, Yang; Li, Yong; Li, Xiaoxiao; Jiao, Licheng
2015-09-01
Community structure is ubiquitous in real world complex networks. Finding the communities is the key to understand the functions of those networks. A lot of works have been done in designing algorithms for community detection, but it remains a challenge in the field. Traditional modularity optimization suffers from the resolution limit problem. Recent researches show that combining the density based technique with the modularity optimization can overcome the resolution limit and an efficient algorithm named DenShrink was provided. The main procedure of DenShrink is repeatedly finding and merging micro-communities (broad sense) into super nodes until they cannot merge. Analyses in this paper show that if the procedure is replaced by finding and merging only dense pairs, both of the detection accuracy and runtime can be obviously improved. Thus an improved density-based algorithm: ImDS is provided. Since the time complexity, path based similarity indexes are difficult to be applied in community detection for high performance. In this paper, the path based Katz index is simplified and used in the ImDS algorithm.
Algorithm Plans Collision-Free Path for Robotic Manipulator
NASA Technical Reports Server (NTRS)
Backes, Paul; Diaz-Calderon, Antonio
2007-01-01
An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps between the corresponding OBB and OBP models. For computational efficiency, the process is started at the coarsest resolution and stopped as soon as possible, preferably before reaching the finest resolution. At the coarsest resolution, there is a single OBB enclosing all relevant external objects and a single OBB enclosing the entire robot. At the next finer level of resolution, the coarsest-resolution OBB is divided into two OBBs, and so forth. If no collision is detected at the coarsest resolution, then there is no need for further computation to detect collisions. If a collision is detected at the coarsest resolution, then tests for collisions are performed at the next finer level of resolution. This process is continued to successively finer resolutions until either no more collisions are detected or the finest resolution is reached.
MOD* Lite: An Incremental Path Planning Algorithm Taking Care of Multiple Objectives.
Oral, Tugcem; Polat, Faruk
2016-01-01
The need for determining a path from an initial location to a target one is a crucial task in many applications, such as virtual simulations, robotics, and computer games. Almost all of the existing algorithms are designed to find optimal or suboptimal solutions considering only a single objective, namely path length. However, in many real life application path length is not the sole criteria for optimization, there are more than one criteria to be optimized that cannot be transformed to each other. In this paper, we introduce a novel multiobjective incremental algorithm, multiobjective D* lite (MOD* lite) built upon a well-known path planning algorithm, D* lite. A number of experiments are designed to compare the solution quality and execution time requirements of MOD* lite with the multiobjective A* algorithm, an alternative genetic algorithm we developed multiobjective genetic path planning and the strength Pareto evolutionary algorithm. PMID:25730837
A Generic Path Algorithm for Regularized Statistical Estimation
Zhou, Hua; Wu, Yichao
2014-01-01
Regularization is widely used in statistics and machine learning to prevent overfitting and gear solution towards prior information. In general, a regularized estimation problem minimizes the sum of a loss function and a penalty term. The penalty term is usually weighted by a tuning parameter and encourages certain constraints on the parameters to be estimated. Particular choices of constraints lead to the popular lasso, fused-lasso, and other generalized ℓ1 penalized regression methods. In this article we follow a recent idea by Wu (2011, 2012) and propose an exact path solver based on ordinary differential equations (EPSODE) that works for any convex loss function and can deal with generalized ℓ1 penalties as well as more complicated regularization such as inequality constraints encountered in shape-restricted regressions and nonparametric density estimation. Non-asymptotic error bounds for the equality regularized estimates are derived. In practice, the EPSODE can be coupled with AIC, BIC, Cp or cross-validation to select an optimal tuning parameter, or provides a convenient model space for performing model averaging or aggregation. Our applications to generalized ℓ1 regularized generalized linear models, shape-restricted regressions, Gaussian graphical models, and nonparametric density estimation showcase the potential of the EPSODE algorithm. PMID:25242834
A Generic Path Algorithm for Regularized Statistical Estimation.
Zhou, Hua; Wu, Yichao
2014-01-01
Regularization is widely used in statistics and machine learning to prevent overfitting and gear solution towards prior information. In general, a regularized estimation problem minimizes the sum of a loss function and a penalty term. The penalty term is usually weighted by a tuning parameter and encourages certain constraints on the parameters to be estimated. Particular choices of constraints lead to the popular lasso, fused-lasso, and other generalized ?1 penalized regression methods. In this article we follow a recent idea by Wu (2011, 2012) and propose an exact path solver based on ordinary differential equations (EPSODE) that works for any convex loss function and can deal with generalized ?1 penalties as well as more complicated regularization such as inequality constraints encountered in shape-restricted regressions and nonparametric density estimation. Non-asymptotic error bounds for the equality regularized estimates are derived. In practice, the EPSODE can be coupled with AIC, BIC, Cp or cross-validation to select an optimal tuning parameter, or provides a convenient model space for performing model averaging or aggregation. Our applications to generalized ?1 regularized generalized linear models, shape-restricted regressions, Gaussian graphical models, and nonparametric density estimation showcase the potential of the EPSODE algorithm. PMID:25242834
A fast and accurate algorithm for high-frequency trans-ionospheric path length determination
NASA Astrophysics Data System (ADS)
Wijaya, Dudy D.
2015-12-01
This paper presents a fast and accurate algorithm for high-frequency trans-ionospheric path length determination. The algorithm is merely based on the solution of the Eikonal equation that is solved using the conformal theory of refraction. The main advantages of the algorithm are summarized as follows. First, the algorithm can determine the optical path length without iteratively adjusting both elevation and azimuth angles and, hence, the computational time can be reduced. Second, for the same elevation and azimuth angles, the algorithm can simultaneously determine the phase and group of both ordinary and extra-ordinary optical path lengths for different frequencies. Results from numerical simulations show that the computational time required by the proposed algorithm to accurately determine 8 different optical path lengths is almost 17 times faster than that required by a 3D ionospheric ray-tracing algorithm. It is found that the computational time to determine multiple optical path lengths is the same with that for determining a single optical path length. It is also found that the proposed algorithm is capable of determining the optical path lengths with millimeter level of accuracies, if the magnitude of the squared ratio of the plasma frequency to the transmitted frequency is less than 1.33× 10^{-3}, and hence the proposed algorithm is applicable for geodetic applications.
NASA Technical Reports Server (NTRS)
Izumi, K. H.; Thompson, J. L.; Groce, J. L.; Schwab, R. W.
1986-01-01
The design requirements for a 4D path definition algorithm are described. These requirements were developed for the NASA ATOPS as an extension of the Local Flow Management/Profile Descent algorithm. They specify the processing flow, functional and data architectures, and system input requirements, and recommended the addition of a broad path revision (reinitialization) function capability. The document also summarizes algorithm design enhancements and the implementation status of the algorithm on an in-house PDP-11/70 computer. Finally, the requirements for the pilot-computer interfaces, the lateral path processor, and guidance and steering function are described.
A hierarchical path computation element (PCE)-based routing algorithm in multi-domain WDM networks
NASA Astrophysics Data System (ADS)
Shang, Shengfeng; Zheng, Xiaoping; Zhang, Heng; Hua, Nan; Zhang, Hanyi
2010-12-01
This paper proposes an inter-domain routing algorithm for multi-domain WDM networks based on hierarchical PCE architecture. The proposed algorithm presents a strategy of selecting k random paths in parent PCE. The simulation indicates that the proposed algorithm outperforms previous methods in term of blocking probability and resource utilization.
Computing geodesic paths on manifolds.
Kimmel, R; Sethian, J A
1998-07-21
The Fast Marching Method is a numerical algorithm for solving the Eikonal equation on a rectangular orthogonal mesh in O(M log M) steps, where M is the total number of grid points. In this paper we extend the Fast Marching Method to triangulated domains with the same computational complexity. As an application, we provide an optimal time algorithm for computing the geodesic distances and thereby extracting shortest paths on triangulated manifolds. PMID:9671694
Chandrasekaran, Srinivas Niranj; Das, Jhuma; Dokholyan, Nikolay V.; Carter, Charles W.
2016-01-01
PATH rapidly computes a path and a transition state between crystal structures by minimizing the Onsager-Machlup action. It requires input parameters whose range of values can generate different transition-state structures that cannot be uniquely compared with those generated by other methods. We outline modifications to estimate these input parameters to circumvent these difficulties and validate the PATH transition states by showing consistency between transition-states derived by different algorithms for unrelated protein systems. Although functional protein conformational change trajectories are to a degree stochastic, they nonetheless pass through a well-defined transition state whose detailed structural properties can rapidly be identified using PATH. PMID:26958584
Path planning for mobile robots based on visibility graphs and A* algorithm
NASA Astrophysics Data System (ADS)
Contreras, Juan D.; Martínez S., Fernando; Martínez S., Fredy H.
2015-07-01
One of most worked issues in the last years in robotics has been the study of strategies to path planning for mobile robots in static and observable conditions. This is an open problem without pre-defined rules (non-heuristic), which needs to measure the state of the environment, finds useful information, and uses an algorithm to select the best path. This paper proposes a simple and efficient geometric path planning strategy supported in digital image processing. The image of the environment is processed in order to identify obstacles, and thus the free space for navigation. Then, using visibility graphs, the possible navigation paths guided by the vertices of obstacles are produced. Finally the A* algorithm is used to find a best possible path. The alternative proposed is evaluated by simulation on a large set of test environments, showing in all cases its ability to find a free collision plausible path.
NASA Astrophysics Data System (ADS)
Birkholz, Adam B.; Schlegel, H. Bernhard
2015-12-01
The development of algorithms to optimize reaction pathways between reactants and products is an active area of study. Existing algorithms typically describe the path as a discrete series of images (chain of states) which are moved downhill toward the path, using various reparameterization schemes, constraints, or fictitious forces to maintain a uniform description of the reaction path. The Variational Reaction Coordinate (VRC) method is a novel approach that finds the reaction path by minimizing the variational reaction energy (VRE) of Quapp and Bofill. The VRE is the line integral of the gradient norm along a path between reactants and products and minimization of VRE has been shown to yield the steepest descent reaction path. In the VRC method, we represent the reaction path by a linear expansion in a set of continuous basis functions and find the optimized path by minimizing the VRE with respect to the linear expansion coefficients. Improved convergence is obtained by applying constraints to the spacing of the basis functions and coupling the minimization of the VRE to the minimization of one or more points along the path that correspond to intermediates and transition states. The VRC method is demonstrated by optimizing the reaction path for the Müller-Brown surface and by finding a reaction path passing through 5 transition states and 4 intermediates for a 10 atom Lennard-Jones cluster.
Birkholz, Adam B; Schlegel, H Bernhard
2015-12-28
The development of algorithms to optimize reaction pathways between reactants and products is an active area of study. Existing algorithms typically describe the path as a discrete series of images (chain of states) which are moved downhill toward the path, using various reparameterization schemes, constraints, or fictitious forces to maintain a uniform description of the reaction path. The Variational Reaction Coordinate (VRC) method is a novel approach that finds the reaction path by minimizing the variational reaction energy (VRE) of Quapp and Bofill. The VRE is the line integral of the gradient norm along a path between reactants and products and minimization of VRE has been shown to yield the steepest descent reaction path. In the VRC method, we represent the reaction path by a linear expansion in a set of continuous basis functions and find the optimized path by minimizing the VRE with respect to the linear expansion coefficients. Improved convergence is obtained by applying constraints to the spacing of the basis functions and coupling the minimization of the VRE to the minimization of one or more points along the path that correspond to intermediates and transition states. The VRC method is demonstrated by optimizing the reaction path for the Müller-Brown surface and by finding a reaction path passing through 5 transition states and 4 intermediates for a 10 atom Lennard-Jones cluster. PMID:26723645
An algorithm to find critical execution paths of software based on complex network
NASA Astrophysics Data System (ADS)
Huang, Guoyan; Zhang, Bing; Ren, Rong; Ren, Jiadong
2015-01-01
The critical execution paths play an important role in software system in terms of reducing the numbers of test date, detecting the vulnerabilities of software structure and analyzing software reliability. However, there are no efficient methods to discover them so far. Thus in this paper, a complex network-based software algorithm is put forward to find critical execution paths (FCEP) in software execution network. First, by analyzing the number of sources and sinks in FCEP, software execution network is divided into AOE subgraphs, and meanwhile, a Software Execution Network Serialization (SENS) approach is designed to generate execution path set in each AOE subgraph, which not only reduces ring structure's influence on path generation, but also guarantees the nodes' integrity in network. Second, according to a novel path similarity metric, similarity matrix is created to calculate the similarity among sets of path sequences. Third, an efficient method is taken to cluster paths through similarity matrices, and the maximum-length path in each cluster is extracted as the critical execution path. At last, a set of critical execution paths is derived. The experimental results show that the FCEP algorithm is efficient in mining critical execution path under software complex network.
The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles
Park, Wooram; Wang, Yunfeng; Chirikjian, Gregory S.
2010-01-01
In this paper we develop a new framework for path planning of flexible needles with bevel tips. Based on a stochastic model of needle steering, the probability density function for the needle tip pose is approximated as a Gaussian. The means and covariances are estimated using an error propagation algorithm which has second order accuracy. Then we adapt the path-of-probability (POP) algorithm to path planning of flexible needles with bevel tips. We demonstrate how our planning algorithm can be used for feedback control of flexible needles. We also derive a closed-form solution for the port placement problem for finding good insertion locations for flexible needles in the case when there are no obstacles. Furthermore, we propose a new method using reference splines with the POP algorithm to solve the path planning problem for flexible needles in more general cases that include obstacles. PMID:21151708
Transport path optimization algorithm based on fuzzy integrated weights
NASA Astrophysics Data System (ADS)
Hou, Yuan-Da; Xu, Xiao-Hao
2014-11-01
Natural disasters cause significant damage to roads, making route selection a complicated logistical problem. To overcome this complexity, we present a method of using a trapezoidal fuzzy number to select the optimal transport path. Using the given trapezoidal fuzzy edge coefficients, we calculate a fuzzy integrated matrix, and incorporate the fuzzy multi-weights into fuzzy integrated weights. The optimal path is determined by taking two sets of vertices and transforming undiscovered vertices into discoverable ones. Our experimental results show that the model is highly accurate, and requires only a few measurement data to confirm the optimal path. The model provides an effective, feasible, and convenient method to obtain weights for different road sections, and can be applied to road planning in intelligent transportation systems.
Shortest link method for contact detection in discrete element method
NASA Astrophysics Data System (ADS)
Nezami, Erfan G.; Hashash, Youssef M. A.; Zhao, Dawei; Ghaboussi, Jamshid
2006-07-01
With the increasing demand for discrete element simulations with larger number of particles and more realistic particle geometries, the need for efficient contact detection algorithms is more evident. To date, the class of common plane (CP) methods is among the most effective and widely used contact detection algorithms in discrete element simulations of polygonal and polyhedral particles. This paper introduces a new approach to obtain the CP by employing a newly introduced concept of shortest link. Among all the possible line segments that connect any point on the surface of particle A to any point on the surface of particle B, the one with the shortest length defines the shortest link between the two particles. The perpendicular bisector plane of the shortest link fulfils all the conditions of a CP, suggesting that CP can be obtained by seeking the shortest link. A new algorithm, called shortest link method (SLM), is proposed to obtain the shortest link and subsequently the CP between any two polyhedral particles. Comparison of the analysis time between SLM and previously introduced algorithms demonstrate that SLM results in a substantial speed up for polyhedral particles contact detection.
Genetic algorithms, path relinking, and the flowshop sequencing problem.
Reeves, C R; Yamada, T
1998-01-01
In a previous paper, a simple genetic algorithm (GA) was developed for finding (approximately) the minimum makespan of the n-job, m-machine permutation flowshop sequencing problem (PFSP). The performance of the algorithm was comparable to that of a naive neighborhood search technique and a proven simulated annealing algorithm. However, recent results have demonstrated the superiority of a tabu search method in solving the PFSP. In this paper, we reconsider the implementation of a GA for this problem and show that by taking into account the features of the landscape generated by the operators used, we are able to improve its performance significantly. PMID:10021740
Ghosal, Dipak; Mueller, Stephen Ng
2005-04-01
With multipath routing in mobile ad hoc networks (MANETs), a source can establish multiple routes to a destination for routing data. In MANETs, mulitpath routing can be used to provide route resilience, smaller end-to-end delay, and better load balancing. However, when the multiple paths are close together, transmissions of different paths may interfere with each other, causing degradation in performance. Besides interference, the physical diversity of paths also improves fault tolerance. We present a purely distributed multipath protocol based on the AODV-Multipath (AODVM) protocol called AODVM with Path Diversity (AODVM/PD) that finds multiple paths with a desired degree of correlation between paths specified as an input parameter to the algorithm. We demonstrate through detailed simulation analysis that multiple paths with low degree of correlation determined by AODVM/PD provides both smaller end-to-end delay than AODVM in networks with low mobility and better route resilience in the presence of correlated node failures.
ERIC Educational Resources Information Center
Boker, Steven M.; McArdle, J. J.; Neale, Michael
2002-01-01
Presents an algorithm for the production of a graphical diagram from a matrix formula in such a way that its components are logically and hierarchically arranged. The algorithm, which relies on the matrix equations of J. McArdle and R. McDonald (1984), calculates the individual path components of expected covariance between variables and
ERIC Educational Resources Information Center
Boker, Steven M.; McArdle, J. J.; Neale, Michael
2002-01-01
Presents an algorithm for the production of a graphical diagram from a matrix formula in such a way that its components are logically and hierarchically arranged. The algorithm, which relies on the matrix equations of J. McArdle and R. McDonald (1984), calculates the individual path components of expected covariance between variables and…
NASA Astrophysics Data System (ADS)
Schellhorn, Henry
2007-09-01
We develop a new algorithm to solve optimal stopping problems. This algorithm is particularly interesting for path-dependent problems. The originality of our method is that it does not transform the model into a Markov model. Rather, we use tools from Malliavin calculus to develop a pathwise approximation of the continuation value. We then regress the latter on a set of basis functions like in the Longstaff-Schwartz (2001) algorithm. The advantage of our scheme is that the number of basis functions required to approximate the continuation value is reduced. As a result, the overall computation time is reduced in path-dependent problems.
Multiple Manifold Clustering Using Curvature Constrained Path
Babaeian, Amir; Bayestehtashk, Alireza; Bandarabadi, Mojtaba
2015-01-01
The problem of multiple surface clustering is a challenging task, particularly when the surfaces intersect. Available methods such as Isomap fail to capture the true shape of the surface near by the intersection and result in incorrect clustering. The Isomap algorithm uses shortest path between points. The main draw back of the shortest path algorithm is due to the lack of curvature constrained where causes to have a path between points on different surfaces. In this paper we tackle this problem by imposing a curvature constraint to the shortest path algorithm used in Isomap. The algorithm chooses several landmark nodes at random and then checks whether there is a curvature constrained path between each landmark node and every other node in the neighborhood graph. We build a binary feature vector for each point where each entry represents the connectivity of that point to a particular landmark. Then the binary feature vectors could be used as a input of conventional clustering algorithm such as hierarchical clustering. We apply our method to simulated and some real datasets and show, it performs comparably to the best methods such as K-manifold and spectral multi-manifold clustering. PMID:26375819
Robust Flight Path Determination for Mars Precision Landing Using Genetic Algorithms
NASA Technical Reports Server (NTRS)
Bayard, David S.; Kohen, Hamid
1997-01-01
This paper documents the application of genetic algorithms (GAs) to the problem of robust flight path determination for Mars precision landing. The robust flight path problem is defined here as the determination of the flight path which delivers a low-lift open-loop controlled vehicle to its desired final landing location while minimizing the effect of perturbations due to uncertainty in the atmospheric model and entry conditions. The genetic algorithm was capable of finding solutions which reduced the landing error from 111 km RMS radial (open-loop optimal) to 43 km RMS radial (optimized with respect to perturbations) using 200 hours of computation on an Ultra-SPARC workstation. Further reduction in the landing error is possible by going to closed-loop control which can utilize the GA optimized paths as nominal trajectories for linearization.
Genetic Algorithm-Based Test Data Generation for Multiple Paths via Individual Sharing
Gong, Dunwei
2014-01-01
The application of genetic algorithms in automatically generating test data has aroused broad concerns and obtained delightful achievements in recent years. However, the efficiency of genetic algorithm-based test data generation for path testing needs to be further improved. In this paper, we establish a mathematical model of generating test data for multiple paths coverage. Then, a multipopulation genetic algorithm with individual sharing is presented to solve the established model. We not only analyzed the performance of the proposed method theoretically, but also applied it to various programs under test. The experimental results show that the proposed method can improve the efficiency of generating test data for many paths' coverage significantly. PMID:25691894
Algorithms for Reliable Navigation and Wayfinding
NASA Astrophysics Data System (ADS)
Haque, Shazia; Kulik, Lars; Klippel, Alexander
Wayfinding research has inspired several algorithms that compute the shortest, fastest, or even simplest paths between two locations. Current navigation systems, however, do not take into account the navigational complexity of certain intersections. A short route might involve a number of intersections that are difficult to navigate, because they offer more than one alternative to turn left or right. The navigational complexity of such an intersection may require modified instructions such as veer right. This paper, therefore, presents a reliable path algorithm that minimizes the number of complex intersections with turn ambiguities between two locations along a route. Our algorithm computes the (shortest) most reliable path, i.e., the one with the least turn ambiguities. Furthermore, we develop a variation of this algorithm that balances travel distance and navigational complexity. Simulation results show that traversing a reliable path leads to less navigational errors, which in turn reduces the average travel distance. A further advantage is that reliable paths require simpler instructions.
A Hybrid Metaheuristic DE/CS Algorithm for UCAV Three-Dimension Path Planning
Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen
2012-01-01
Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model. PMID:23193383
A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.
Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen
2012-01-01
Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model. PMID:23193383
A statistical-based scheduling algorithm in automated data path synthesis
NASA Technical Reports Server (NTRS)
Jeon, Byung Wook; Lursinsap, Chidchanok
1992-01-01
In this paper, we propose a new heuristic scheduling algorithm based on the statistical analysis of the cumulative frequency distribution of operations among control steps. It has a tendency of escaping from local minima and therefore reaching a globally optimal solution. The presented algorithm considers the real world constraints such as chained operations, multicycle operations, and pipelined data paths. The result of the experiment shows that it gives optimal solutions, even though it is greedy in nature.
NASA Astrophysics Data System (ADS)
Jin, Guo-yong; Yang, Tie-jun; Xiao, You-hong; Liu, Zhi-gang
2007-06-01
Existing conventional online secondary path modeling algorithms for active noise control system have the characteristic that the operation of the controller and the modeling process of the secondary path are mutually interfered. So this unwanted interference will degrade the noise-reducing performance and even the stability of the system. A new finite impulse response (FIR) filter-based online secondary path identification algorithm is proposed to eliminate the interactive disturbances. Compared with existing algorithms, the proposed method does not need feeding extra noise to the secondary source, and is also different from the overall modeling method using the control output. Instead, the facts that the FIR filters have coefficient vectors equivalent to impulse responses corresponding to the transfer functions of physical systems are utilized, and when the coefficients of the control filter are updated, the filter coefficient vectors are different at different iteration steps because of estimation errors. Furthermore, in the method, the modeling of the secondary path is relatively independent of the active noise control system, and the reference signal is used as the input for the system identification. Therefore, the unwanted disturbances between the operation of the ANC controller and the identification of the secondary path are eliminated completely, and the complexity of ANC system is greatly reduced. Computer simulations show its effectiveness, robustness, and the advantage of low residual noise.
Evolutionary algorithm based offline/online path planner for UAV navigation.
Nikolos, I K; Valavanis, K P; Tsourveloudis, N C; Kostaras, A N
2003-01-01
An evolutionary algorithm based framework, a combination of modified breeder genetic algorithms incorporating characteristics of classic genetic algorithms, is utilized to design an offline/online path planner for unmanned aerial vehicles (UAVs) autonomous navigation. The path planner calculates a curved path line with desired characteristics in a three-dimensional (3-D) rough terrain environment, represented using B-spline curves, with the coordinates of its control points being the evolutionary algorithm artificial chromosome genes. Given a 3-D rough environment and assuming flight envelope restrictions, two problems are solved: i) UAV navigation using an offline planner in a known environment, and, ii) UAV navigation using an online planner in a completely unknown environment. The offline planner produces a single B-Spline curve that connects the starting and target points with a predefined initial direction. The online planner, based on the offline one, is given on-board radar readings which gradually produces a smooth 3-D trajectory aiming at reaching a predetermined target in an unknown environment; the produced trajectory consists of smaller B-spline curves smoothly connected with each other. Both planners have been tested under different scenarios, and they have been proven effective in guiding an UAV to its final destination, providing near-optimal curved paths quickly and efficiently. PMID:18238242
On-line reentry guidance algorithm with both path and no-fly zone constraints
NASA Astrophysics Data System (ADS)
Zhang, Da; Liu, Lei; Wang, Yongji
2015-12-01
This study proposes an on-line predictor-corrector reentry guidance algorithm that satisfies path and no-fly zone constraints for hypersonic vehicles with a high lift-to-drag ratio. The proposed guidance algorithm can generate a feasible trajectory at each guidance cycle during the entry flight. In the longitudinal profile, numerical predictor-corrector approaches are used to predict the flight capability from current flight states to expected terminal states and to generate an on-line reference drag acceleration profile. The path constraints on heat rate, aerodynamic load, and dynamic pressure are implemented as a part of the predictor-corrector algorithm. A tracking control law is then designed to track the reference drag acceleration profile. In the lateral profile, a novel guidance algorithm is presented. The velocity azimuth angle error threshold and artificial potential field method are used to reduce heading error and to avoid the no-fly zone. Simulated results for nominal and dispersed cases show that the proposed guidance algorithm not only can avoid the no-fly zone but can also steer a typical entry vehicle along a feasible 3D trajectory that satisfies both terminal and path constraints.
Limited Path Percolation in Complex Networks
NASA Astrophysics Data System (ADS)
López, Eduardo; Parshani, Roni; Cohen, Reuven; Carmi, Shai; Havlin, Shlomo
2007-11-01
We study the stability of network communication after removal of a fraction q=1-p of links under the assumption that communication is effective only if the shortest path between nodes i and j after removal is shorter than aℓij(a≥1) where ℓij is the shortest path before removal. For a large class of networks, we find analytically and numerically a new percolation transition at p˜c=(κ0-1)(1-a)/a, where κ0≡⟨k2⟩/⟨k⟩ and k is the node degree. Above p˜c, order N nodes can communicate within the limited path length aℓij, while below p˜c, Nδ (δ<1) nodes can communicate. We expect our results to influence network design, routing algorithms, and immunization strategies, where short paths are most relevant.
[Research of tool-path generation algorithm for NC machining dental crown restoration].
Sun, Quanping; Wang, Tongyue; Chen, Qianliang; Dai, Ning; Liao, Wenhe; He, Ning
2008-06-01
Seeing that the manual method to restore tooth has the disadvantages such as long "lead-time", assurance of quality highly depending on operator's technology, and real-time cure difficulty met by lots of dental patients coming up for tooth restoration, we put forward an algorithm of tool-path generation based on STL data model for roughing dental restoration. The algorithm can reconfigure the STL data of dental crown restoration quickly, can generates the multi-level offset wire-loop by the use of horizontal plane cutting triangle facets; and then on the basis of offset wire-loop, it can plan Zigzag and follow the contour machining tool path. The algorithm has been applied to Dental CAM software, through simulation machining, the result shows that it can not only generate interference-free tool path, but also save a lot of "lead-time" for dental restoration. Accordingly, the algorithm is of great value for reference in clinical application. PMID:18693428
Optimal Path Planning Program for Autonomous Speed Sprayer in Orchard Using Order-Picking Algorithm
NASA Astrophysics Data System (ADS)
Park, T. S.; Park, S. J.; Hwang, K. Y.; Cho, S. I.
This study was conducted to develop a software program which computes optimal path for autonomous navigation in orchard, especially for speed sprayer. Possibilities of autonomous navigation in orchard were shown by other researches which have minimized distance error between planned path and performed path. But, research of planning an optimal path for speed sprayer in orchard is hardly founded. In this study, a digital map and a database for orchard which contains GPS coordinate information (coordinates of trees and boundary of orchard) and entity information (heights and widths of trees, radius of main stem of trees, disease of trees) was designed. An orderpicking algorithm which has been used for management of warehouse was used to calculate optimum path based on the digital map. Database for digital map was created by using Microsoft Access and graphic interface for database was made by using Microsoft Visual C++ 6.0. It was possible to search and display information about boundary of an orchard, locations of trees, daily plan for scattering chemicals and plan optimal path on different orchard based on digital map, on each circumstance (starting speed sprayer in different location, scattering chemicals for only selected trees).
A path planning algorithm for lane-following-based autonomous mobile robot navigation
NASA Astrophysics Data System (ADS)
Aljeroudi, Yazan; Paulik, Mark; Krishnan, Mohan; Luo, Chaomin
2010-01-01
In this paper we address the problem of autonomous robot navigation in a "roadway" type environment, where the robot has to drive forward on a defined path that could be impeded by the presence of obstacles. The specific context is the Autonomous Challenge of the Intelligent Ground Vehicle Competition (www.igvc.org). The task of the path planner is to ensure that the robot follows the path without turning back, as can happen in switchbacks, and/or leaving the course, as can happen in dashed or single lane line situations. A multi-behavior path planning algorithm is proposed. The first behavior determines a goal using a center of gravity (CoG) computation from the results of image processing techniques designed to extract lane lines. The second behavior is based on developing a sense of the current "general direction" of the contours of the course. This is gauged based on the immediate path history of the robot. An adaptive-weight-based fusion of the two behaviors is used to generate the best overall direction. This multi-behavior path planning strategy has been evaluated successfully in a Player/Stage simulation environment and subsequently implemented in the 2009 IGVC. The details of our experience will be presented at the conference.
A Probabilistic PTAS for Shortest Common Superstring
NASA Astrophysics Data System (ADS)
Plociennik, Kai
We consider approximation algorithms for the shortest common superstring problem (SCS). It is well-known that there is a constant f > 1 such that there is no efficient approximation algorithm for SCS achieving a factor of at most f in the worst case, unless P = NP. We study SCS on random inputs and present an approximation scheme that achieves, for every ɛ> 0, a 1 + ɛ-approximation in expected polynomial time. This result applies not only if the letters are chosen independently at random, but also to the more realistic mixing model, which allows dependencies among the letters of the random strings. Our result is based on a sharp tail bound on the optimal compression, which improves a previous result by Frieze and Szpankowski.
Calibration of neural networks using genetic algorithms, with application to optimal path planning
NASA Technical Reports Server (NTRS)
Smith, Terence R.; Pitney, Gilbert A.; Greenwood, Daniel
1987-01-01
Genetic algorithms (GA) are used to search the synaptic weight space of artificial neural systems (ANS) for weight vectors that optimize some network performance function. GAs do not suffer from some of the architectural constraints involved with other techniques and it is straightforward to incorporate terms into the performance function concerning the metastructure of the ANS. Hence GAs offer a remarkably general approach to calibrating ANS. GAs are applied to the problem of calibrating an ANS that finds optimal paths over a given surface. This problem involves training an ANS on a relatively small set of paths and then examining whether the calibrated ANS is able to find good paths between arbitrary start and end points on the surface.
Fast parallel algorithms for finding Hamiltonian paths and cycles in a tournament
Soroker, D.
1987-01-01
A tournament is a digraph T = (V,E) in which, for every pair of vertices, ..mu.. an ..nu.., exactly one of (..mu..,..nu..), (..nu..,..mu..) is in E. Two classical theorems about tournaments are that every tournament has a Hamiltonian path and that every strongly connected tournament has a Hamiltonian cycle. Furthermore, it is known how to find these in polynomial time. In this paper the authors discuss the parallel complexity of these problems. Their main result is that constructing a Hamiltonian path in a general tournament and a Hamiltonian cycle in a strongly connected tournament are both in NC. In addition, they give an NC algorithm for finding a Hamiltonain path with one fixed endpoint.
Worm Algorithm for Continuous-Space Path Integral Monte Carlo Simulations
Boninsegni, Massimo; Prokof'ev, Nikolay; Svistunov, Boris
2006-02-24
We present a new approach to path integral Monte Carlo (PIMC) simulations based on the worm algorithm, originally developed for lattice models and extended here to continuous-space many-body systems. The scheme allows for efficient computation of thermodynamic properties, including winding numbers and off-diagonal correlations, for systems of much greater size than that accessible to conventional PIMC simulations. As an illustrative application of the method, we simulate the superfluid transition of {sup 4}He in two dimensions.
Short paths in expander graphs
Kleinberg, J.; Rubinfeld, R.
1996-12-31
Graph expansion has proved to be a powerful general tool for analyzing the behavior of routing algorithms and the interconnection networks on which they run. We develop new routing algorithms and structural results for bounded-degree expander graphs. Our results are unified by the fact that they are all based upon, and extend, a body of work asserting that expanders are rich in short, disjoint paths. In particular, our work has consequences for the disjoint paths problem, multicommodify flow, and graph minor containment. We show: (i) A greedy algorithm for approximating the maximum disjoint paths problem achieves a polylogarithmic approximation ratio in bounded-degree expanders. Although our algorithm is both deterministic and on-line, its performance guarantee is an improvement over previous bounds in expanders. (ii) For a multicommodily flow problem with arbitrary demands on a bounded-degree expander, there is a (1 + {epsilon})-optimal solution using only flow paths of polylogarithmic length. It follows that the multicommodity flow algorithm of Awerbuch and Leighton runs in nearly linear time per commodity in expanders. Our analysis is based on establishing the following: given edge weights on an expander G, one can increase some of the weights very slightly so the resulting shortest-path metric is smooth - the min-weight path between any pair of nodes uses a polylogarithmic number of edges. (iii) Every bounded-degree expander on n nodes contains every graph with O(n/log{sup O(1)} n) nodes and edges as a minor.
Formal language constrained path problems
Barrett, C.; Jacob, R.; Marathe, M.
1997-07-08
In many path finding problems arising in practice, certain patterns of edge/vertex labels in the labeled graph being traversed are allowed/preferred, while others are disallowed. Motivated by such applications as intermodal transportation planning, the authors investigate the complexity of finding feasible paths in a labeled network, where the mode choice for each traveler is specified by a formal language. The main contributions of this paper include the following: (1) the authors show that the problem of finding a shortest path between a source and destination for a traveler whose mode choice is specified as a context free language is solvable efficiently in polynomial time, when the mode choice is specified as a regular language they provide algorithms with improved space and time bounds; (2) in contrast, they show that the problem of finding simple paths between a source and a given destination is NP-hard, even when restricted to very simple regular expressions and/or very simple graphs; (3) for the class of treewidth bounded graphs, they show that (i) the problem of finding a regular language constrained simple path between source and a destination is solvable in polynomial time and (ii) the extension to finding context free language constrained simple paths is NP-complete. Several extensions of these results are presented in the context of finding shortest paths with additional constraints. These results significantly extend the results in [MW95]. As a corollary of the results, they obtain a polynomial time algorithm for the BEST k-SIMILAR PATH problem studied in [SJB97]. The previous best algorithm was given by [SJB97] and takes exponential time in the worst case.
Application of GA, PSO, and ACO algorithms to path planning of autonomous underwater vehicles
NASA Astrophysics Data System (ADS)
Aghababa, Mohammad Pourmahmood; Amrollahi, Mohammad Hossein; Borjkhani, Mehdi
2012-09-01
In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a numerical solution of a nonlinear optimal control problem (NOCP). An energy performance index as a cost function, which should be minimized, was defined. The resulting problem was a two-point boundary value problem (TPBVP). A genetic algorithm (GA), particle swarm optimization (PSO), and ant colony optimization (ACO) algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.
NASA Astrophysics Data System (ADS)
Diot, Emilie; Gavoille, Cyril
In this paper we investigate the structural properties of k-path separable graphs, that are the graphs that can be separated by a set of k shortest paths. We identify several graph families having such path separability, and we show that this property is closed under minor taking. In particular we establish a list of forbidden minors for 1-path separable graphs.
Shortest recurrence periods of novae
Kato, Mariko; Saio, Hideyuki; Hachisu, Izumi; Nomoto, Ken'ichi
2014-10-01
Stimulated by the recent discovery of the 1 yr recurrence period nova M31N 2008-12a, we examined the shortest recurrence periods of hydrogen shell flashes on mass-accreting white dwarfs (WDs). We discuss the mechanism that yields a finite minimum recurrence period for a given WD mass. Calculating the unstable flashes for various WD masses and mass accretion rates, we identified a shortest recurrence period of about two months for a non-rotating 1.38 M {sub ☉} WD with a mass accretion rate of 3.6 × 10{sup –7} M {sub ☉} yr{sup –1}. A 1 yr recurrence period is realized for very massive (≳ 1.3 M {sub ☉}) WDs with very high accretion rates (≳ 1.5 × 10{sup –7} M {sub ☉} yr{sup –1}). We revised our stability limit of hydrogen shell burning, which will be useful for binary evolution calculations toward Type Ia supernovae.
In search of preferential flow paths in structured porous media using a simple genetic algorithm
NASA Astrophysics Data System (ADS)
Gwo, Jin-Ping
2001-06-01
Fracture network and preferential flow path images from exposed outcrops of geological formations, exposed soil pedon faces, and extracted soil columns and rock cores are often used to conceptualize and construct models to predict the fate and transport of subsurface contaminants. Both the scale resolutions inherent in these observations and the upscaling methods used to obtain macroscopic flow and transport parameters may result in uncertainties in the prediction. We present a mechanistic-based approach that utilizes a discrete fracture flow and transport model, a distributed and high performance computational architecture, and a genetic-based search algorithm to invert scale- representative, equivalent fracture networks or the preferential flow paths. Synthetic breakthrough curves (BTCs) and exposed structural information from known fracture networks in hypothetical soil columns are presented to the search algorithm. Using three genetic operators, a simple genetic algorithm (SGA) is able to invert the correct pictures of simple but not complex fracture networks. Solute transport experiments using soil columns often assume that the structure of soil columns is laterally uniform with respect to the macroscopic transport direction and the transport process is longitudinally one- dimensional. This assumption and the one BTC thus collected for each injection of solutes, even with flow interruptions, are not sufficient to guide the search algorithm toward the global optimum. Additional information (e.g., multiple solute BTCs along a cross section of the soil column) is necessary for the SGA to invert the correct fracture network. Three SGA population statistics, fracture network uncertainty, informatic entropy, and matrix-fracture contact area, are proposed to measure the uncertainty of SGA near optima. A positive correlation between the reduction of these statistics and the level of relevant information to better confine the SGA search space was found. The SGA search algorithm is then applied to a laboratory solute transport problem. Multiple scenarios of search constraints, derived from visually traced surface features, are examined. The hypothesis that variation in fracture aperture may reduce the uncertainty of SGA near optima is also tested. The results from these applications suggest that there is a certain degree of uncertainty regarding the flowing nature of the exposed fracture segments that are visually traced. The uncertainty of SGA near optima is not improved by incorporating fracture aperture information into the fracture networks. Breakthrough curves thus calculated have marginal improvement, relative to the uniform aperture SGA near optima, in fitting the observations. The lack of improvement may be caused by the relative uniform structure of the soil and the scale of the problem. It is further suggested that in applying the search algorithm to laboratory and field problems, one explores only the search scenarios that relevant information and search constraints may warrant.
A conflict-free, path-level parallelization approach for sequential simulation algorithms
NASA Astrophysics Data System (ADS)
Rasera, Luiz Gustavo; Machado, Péricles Lopes; Costa, João Felipe C. L.
2015-07-01
Pixel-based simulation algorithms are the most widely used geostatistical technique for characterizing the spatial distribution of natural resources. However, sequential simulation does not scale well for stochastic simulation on very large grids, which are now commonly found in many petroleum, mining, and environmental studies. With the availability of multiple-processor computers, there is an opportunity to develop parallelization schemes for these algorithms to increase their performance and efficiency. Here we present a conflict-free, path-level parallelization strategy for sequential simulation. The method consists of partitioning the simulation grid into a set of groups of nodes and delegating all available processors for simulation of multiple groups of nodes concurrently. An automated classification procedure determines which groups are simulated in parallel according to their spatial arrangement in the simulation grid. The major advantage of this approach is that it does not require conflict resolution operations, and thus allows exact reproduction of results. Besides offering a large performance gain when compared to the traditional serial implementation, the method provides efficient use of computational resources and is generic enough to be adapted to several sequential algorithms.
Gao, Ming-ke; Chen, Yi-min; Liu, Quan; Huang, Chen; Li, Ze-yu; Zhang, Dian-hua
2015-11-01
Preoperative path planning plays a critical role in vascular access surgery. Vascular access surgery has superior difficulties and requires long training periods as well as precise operation. Yet doctors are on different leves, thus bulky size of blood vessels is usually chosen to undergo surgery and other possible optimal path is not considered. Moreover, patients and surgeons will suffer from X-ray radiation during the surgical procedure. The study proposed an improved ant colony algorithm to plan a vascular optimal three-dimensional path with overall consideration of factors such as catheter diameter, vascular length, diameter as well as the curvature and torsion. To protect the doctor and patient from exposing to X-ray long-term, the paper adopted augmented reality technology to register the reconstructed vascular model and physical model meanwhile, locate catheter by the electromagnetic tracking system and used Head Mounted Display to show the planning path in real time and monitor catheter push procedure. The experiment manifests reasonableness of preoperative path planning and proves the reliability of the algorithm. The augmented reality experiment real time and accurately displays the vascular phantom model, planning path and the catheter trajectory and proves the feasibility of this method. The paper presented a useful and feasible surgical scheme which was based on the improved ant colony algorithm to plan vascular three-dimensional path in augmented reality. The study possessed practical guiding significance in preoperative path planning, intraoperative catheter guiding and surgical training, which provided a theoretical method of path planning for vascular access surgery. It was a safe and reliable path planning approach and possessed practical reference value. PMID:26319273
Li, Bai; Gong, Li-gang; Yang, Wen-lun
2014-01-01
Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms. PMID:24790555
Gong, Li-gang; Yang, Wen-lun
2014-01-01
Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms. PMID:24790555
NASA Astrophysics Data System (ADS)
Vamoş, Călin; Crăciun, Maria; Suciu, Nicolae
2015-10-01
Fractional Brownian motion (fBm) is a nonstationary self-similar continuous stochastic process used to model many natural phenomena. A realization of the fBm can be numerically approximated by discrete paths which do not entirely preserve the self-similarity. We investigate the self-similarity at different time scales by decomposing the discrete paths of fBm into intrinsic components. The decomposition is realized by an automatic numerical algorithm based on successive smoothings stopped when the maximum monotonic variation of the averaged time series is reached. The spectral properties of the intrinsic components are analyzed through the monotony spectrum defined as the graph of the amplitudes of the monotonic segments with respect to their lengths (characteristic times). We show that, at intermediate time scales, the mean amplitude of the intrinsic components of discrete fBms scales with the mean characteristic time as a power law identical to that of the corresponding continuous fBm. As an application we consider hydrological time series of the transverse component of the transport process generated as a superposition of diffusive movements on advective transport in random velocity fields. We found that the transverse component has a rich structure of scales, which is not revealed by the analysis of the global variance, and that its intrinsic components may be self-similar only in particular cases.
Herráez, Miguel Arevallilo; Burton, David R; Lalor, Michael J; Gdeisat, Munther A
2002-12-10
We describe what is to our knowledge a novel technique for phase unwrapping. Several algorithms based on unwrapping the most-reliable pixels first have been proposed. These were restricted to continuous paths and were subject to difficulties in defining a starting pixel. The technique described here uses a different type of reliability function and does not follow a continuous path to perform the unwrapping operation. The technique is explained in detail and illustrated with a number of examples. PMID:12502301
Research on optimal path planning algorithm of task-oriented optical remote sensing satellites
NASA Astrophysics Data System (ADS)
Liu, Yunhe; Xu, Shengli; Liu, Fengjing; Yuan, Jingpeng
2015-08-01
GEO task-oriented optical remote sensing satellite, is very suitable for long-term continuous monitoring and quick access to imaging. With the development of high resolution optical payload technology and satellite attitude control technology, GEO optical remote sensing satellites will become an important developing trend for aerospace remote sensing satellite in the near future. In the paper, we focused on GEO optical remote sensing satellite plane array stare imaging characteristics and real-time leading mission of earth observation mode, targeted on satisfying needs of the user with the minimum cost of maneuver, and put forward the optimal path planning algorithm centered on transformation from geographic coordinate space to Field of plane, and finally reduced the burden of the control system. In this algorithm, bounded irregular closed area on the ground would be transformed based on coordinate transformation relations in to the reference plane for field of the satellite payload, and then using the branch and bound method to search for feasible solutions, cutting off the non-feasible solution in the solution space based on pruning strategy; and finally trimming some suboptimal feasible solutions based on the optimization index until a feasible solution for the global optimum. Simulation and visualization presentation software testing results verified the feasibility and effectiveness of the strategy.
Localization Algorithm with On-line Path Loss Estimation and Node Selection
Bel, Albert; Vicario, José López; Seco-Granados, Gonzalo
2011-01-01
RSS-based localization is considered a low-complexity algorithm with respect to other range techniques such as TOA or AOA. The accuracy of RSS methods depends on the suitability of the propagation models used for the actual propagation conditions. In indoor environments, in particular, it is very difficult to obtain a good propagation model. For that reason, we present a cooperative localization algorithm that dynamically estimates the path loss exponent by using RSS measurements. Since the energy consumption is a key point in sensor networks, we propose a node selection mechanism to limit the number of neighbours of a given node that are used for positioning purposes. Moreover, the selection mechanism is also useful to discard bad links that could negatively affect the performance accuracy. As a result, we derive a practical solution tailored to the strict requirements of sensor networks in terms of complexity, size and cost. We present results based on both computer simulations and real experiments with the Crossbow MICA2 motes showing that the proposed scheme offers a good trade-off in terms of position accuracy and energy efficiency. PMID:22163992
Reliability assessment of power distribution systems using disjoint path-set algorithm
NASA Astrophysics Data System (ADS)
Bourezg, Abdrabbi; Meglouli, H.
2015-10-01
Finding the reliability expression of different substation configurations can help design a distribution system with the best overall reliability. This paper presents a computerized a nd implemented algorithm, based on Disjoint Sum of Product (DSOP) algorithm. The algorithm was synthesized and applied for the first time to the determination of reliability expression of a substation to determine reliability indices and costs of different substation arrangements. It deals with the implementation and synthesis of a new designed algorithm for DSOP implemented using C/C++, incorporating parallel problem solving capability and overcoming the disadvantage of Monte Carlo simulation which is the lengthy computational time to achieve satisfactory statistical convergence of reliability index values. The major highlight of this research being that the time consuming procedures of the DSOP solution generated for different substation arrangements using the proposed method is found to be significantly lower in comparison with the time consuming procedures of Monte Carlo-simulation solution or any other method used for the reliability evaluation of substations in the existing literature such as meta-heuristic and soft computing algorithms. This implementation gives the possibility of RBD simulation for different substation configurations in C/C++ using their path-set Boolean expressions mapped to probabilistic domain and result in simplest Sum of Disjoint Product which is on a one-to-one correspondence with reliability expression. This software tool is capable of handling and modeling a large, repairable system. Additionally, through its intuitive interface it can be easily used for industrial and commercial power systems. With simple Boolean expression for a configuration's RBD inputted, users can define a power system utilizing a RBD and, through a fast and efficient built-in simulation engine, the required reliability expressions and indices can be obtained. Two case studies will be analyzed in this paper. The effects of different substation configurations on the reliability are analyzed and compared. Then, the reliability of a radial distribution system will be evaluated using DSOP solution. The failure results will be combined with a load flow scenario, and indices such as SAIDI, SAIFI will be determined.
Calculating Least Risk Paths in 3d Indoor Space
NASA Astrophysics Data System (ADS)
Vanclooster, A.; De Maeyer, Ph.; Fack, V.; Van de Weghe, N.
2013-08-01
Over the last couple of years, research on indoor environments has gained a fresh impetus; more specifically applications that support navigation and wayfinding have become one of the booming industries. Indoor navigation research currently covers the technological aspect of indoor positioning and the modelling of indoor space. The algorithmic development to support navigation has so far been left mostly untouched, as most applications mainly rely on adapting Dijkstra's shortest path algorithm to an indoor network. However, alternative algorithms for outdoor navigation have been proposed adding a more cognitive notion to the calculated paths and as such adhering to the natural wayfinding behaviour (e.g. simplest paths, least risk paths). These algorithms are currently restricted to outdoor applications. The need for indoor cognitive algorithms is highlighted by a more challenged navigation and orientation due to the specific indoor structure (e.g. fragmentation, less visibility, confined areas). As such, the clarity and easiness of route instructions is of paramount importance when distributing indoor routes. A shortest or fastest path indoors not necessarily aligns with the cognitive mapping of the building. Therefore, the aim of this research is to extend those richer cognitive algorithms to three-dimensional indoor environments. More specifically for this paper, we will focus on the application of the least risk path algorithm of Grum (2005) to an indoor space. The algorithm as proposed by Grum (2005) is duplicated and tested in a complex multi-storey building. The results of several least risk path calculations are compared to the shortest paths in indoor environments in terms of total length, improvement in route description complexity and number of turns. Several scenarios are tested in this comparison: paths covering a single floor, paths crossing several building wings and/or floors. Adjustments to the algorithm are proposed to be more aligned to the specific structure of indoor environments (e.g. no turn restrictions, restricted usage of rooms, vertical movement) and common wayfinding strategies indoors. In a later stage, other cognitive algorithms will be implemented and tested in both an indoor and combined indoor-outdoor setting, in an effort to improve the overall user experience during navigation in indoor environments.
Bowen, J.; Dozier, G.
1996-12-31
This paper introduces a hybrid evolutionary hill-climbing algorithm that quickly solves (Constraint Satisfaction Problems (CSPs)). This hybrid uses opportunistic arc and path revision in an interleaved fashion to reduce the size of the search space and to realize when to quit if a CSP is based on an inconsistent constraint network. This hybrid outperforms a well known hill-climbing algorithm, the Iterative Descent Method, on a test suite of 750 randomly generated CSPs.
Computing paths and cycles in biological interaction graphs
Klamt, Steffen; von Kamp, Axel
2009-01-01
Background Interaction graphs (signed directed graphs) provide an important qualitative modeling approach for Systems Biology. They enable the analysis of causal relationships in cellular networks and can even be useful for predicting qualitative aspects of systems dynamics. Fundamental issues in the analysis of interaction graphs are the enumeration of paths and cycles (feedback loops) and the calculation of shortest positive/negative paths. These computational problems have been discussed only to a minor extent in the context of Systems Biology and in particular the shortest signed paths problem requires algorithmic developments. Results We first review algorithms for the enumeration of paths and cycles and show that these algorithms are superior to a recently proposed enumeration approach based on elementary-modes computation. The main part of this work deals with the computation of shortest positive/negative paths, an NP-complete problem for which only very few algorithms are described in the literature. We propose extensions and several new algorithm variants for computing either exact results or approximations. Benchmarks with various concrete biological networks show that exact results can sometimes be obtained in networks with several hundred nodes. A class of even larger graphs can still be treated exactly by a new algorithm combining exhaustive and simple search strategies. For graphs, where the computation of exact solutions becomes time-consuming or infeasible, we devised an approximative algorithm with polynomial complexity. Strikingly, in realistic networks (where a comparison with exact results was possible) this algorithm delivered results that are very close or equal to the exact values. This phenomenon can probably be attributed to the particular topology of cellular signaling and regulatory networks which contain a relatively low number of negative feedback loops. Conclusion The calculation of shortest positive/negative paths and cycles in interaction graphs is an important method for network analysis in Systems Biology. This contribution draws the attention of the community to this important computational problem and provides a number of new algorithms, partially specifically tailored for biological interaction graphs. All algorithms have been implemented in the CellNetAnalyzer framework which can be downloaded for academic use at . PMID:19527491
Research on the influence of scan path of image on the performance of information hiding algorithm
NASA Astrophysics Data System (ADS)
Yan, Su; Xie, Chengjun; Huang, Ruirui; Xu, Xiaolong
2015-12-01
This paper carried out a study on information hiding performance using technology of histogram shift combining hybrid transform. As the approach of data selection, scan path of images is discussed. Ten paths were designed and tested on international standard testing images. Experiment results indicate that scan path has a great influence on the performance of image lossless information hiding. For selected test image, the peak of optimized path increased up to 9.84% while that of the worst path dropped 24.2%, that is to say, for different test images, scan path greatly impacts information hiding performance by influencing image redundancy and sparse matrix.
Trajectory Generation and Path Planning for Autonomous Aerobots
NASA Technical Reports Server (NTRS)
Sharma, Shivanjli; Kulczycki, Eric A.; Elfes, Alberto
2007-01-01
This paper presents global path planning algorithms for the Titan aerobot based on user defined waypoints in 2D and 3D space. The algorithms were implemented using information obtained through a planner user interface. The trajectory planning algorithms were designed to accurately represent the aerobot's characteristics, such as minimum turning radius. Additionally, trajectory planning techniques were implemented to allow for surveying of a planar area based solely on camera fields of view, airship altitude, and the location of the planar area's perimeter. The developed paths allow for planar navigation and three-dimensional path planning. These calculated trajectories are optimized to produce the shortest possible path while still remaining within realistic bounds of airship dynamics.
NASA Astrophysics Data System (ADS)
Zhao, Minghui; Zhao, Xuesen; Li, Zengqiang; Sun, Tao
2014-08-01
In the non-rotational symmetrical microstrcture surfaces generation using turning method with Fast Tool Servo(FTS), non-uniform distribution of the interpolation data points will lead to long processing cycle and poor surface quality. To improve this situation, nearly arc-length tool path generation algorithm is proposed, which generates tool tip trajectory points in nearly arc-length instead of the traditional interpolation rule of equal angle and adds tool radius compensation. All the interpolation points are equidistant in radial distribution because of the constant feeding speed in X slider, the high frequency tool radius compensation components are in both X direction and Z direction, which makes X slider difficult to follow the input orders due to its large mass. Newton iterative method is used to calculate the neighboring contour tangent point coordinate value with the interpolation point X position as initial value, in this way, the new Z coordinate value is gotten, and the high frequency motion components in X direction is decomposed into Z direction. Taking a typical microstructure with 4μm PV value for test, which is mixed with two 70μm wave length sine-waves, the max profile error at the angle of fifteen is less than 0.01μm turning by a diamond tool with big radius of 80μm. The sinusoidal grid is machined on a ultra-precision lathe succesfully, the wavelength is 70.2278μm the Ra value is 22.81nm evaluated by data points generated by filtering out the first five harmonics.
NASA Astrophysics Data System (ADS)
Hou, Rui; Yu, Junle
2011-12-01
Optical burst switching (OBS) has been regarded as the next generation optical switching technology. In this paper, the routing problem based on particle swarm optimization (PSO) algorithm in OBS has been studies and analyzed. Simulation results indicate that, the PSO based routing algorithm will optimal than the conversional shortest path first algorithm in space cost and calculation cost. Conclusions have certain theoretical significances for the improvement of OBS routing protocols.
NASA Astrophysics Data System (ADS)
Chen, Jun; Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Tang, Yipeng
2010-01-01
An enhanced dynamic Delaunay Triangulation-based (DT) path planning approach is proposed for mobile robots to plan and navigate a path successfully in the context of the Autonomous Challenge of the Intelligent Ground Vehicle Competition (www.igvc.org). The Autonomous Challenge course requires the application of vision techniques since it involves path-based navigation in the presence of a tightly clustered obstacle field. Course artifacts such as switchbacks, ramps, dashed lane lines, trap etc. are present which could turn the robot around or cause it to exit the lane. The main contribution of this work is a navigation scheme based on dynamic Delaunay Triangulation (DDT) that is heuristically enhanced on the basis of a sense of general lane direction. The latter is computed through a "GPS (Global Positioning System) tail" vector obtained from the immediate path history of the robot. Using processed data from a LADAR, camera, compass and GPS unit, a composite local map containing both obstacles and lane line segments is built up and Delaunay Triangulation is continuously run to plan a path. This path is heuristically corrected, when necessary, by taking into account the "GPS tail" . With the enhancement of the Delaunay Triangulation by using the "GPS tail", goal selection is successfully achieved in a majority of situations. The robot appears to follow a very stable path while navigating through switchbacks and dashed lane line situations. The proposed enhanced path planning and GPS tail technique has been successfully demonstrated in a Player/Stage simulation environment. In addition, tests on an actual course are very promising and reveal the potential for stable forward navigation.
Dorfer, Matthias; Kazmar, Tomáš; Šmíd, Matěj; Sing, Sanchit; Kneißl, Julia; Keller, Simone; Debeir, Olivier; Luber, Birgit; Mattes, Julian
2016-01-01
In this paper we address the problem of recovering spatio-temporal trajectories of cancer cells in phase contrast video-microscopy where the user provides the paths on which the cells are moving. The paths are purely spatial, without temporal information. To recover the temporal information associated to a given path we propose an approach based on automatic cell detection and on a graph-based shortest path search. The nodes in the graph consist of the projections of the cell detections onto the geometrical cell path. The edges relate nodes which correspond to different frames of the sequence and potentially to the same cell and trajectory. In this directed graph we search for the shortest path and use it to define a temporal parametrization of the corresponding geometrical cell path. An evaluation based on 286 paths of 7 phase contrast microscopy videos shows that our algorithm allows to recover 92% of trajectory points with respect to the associated ground truth. We compare our method with a state-of-the-art algorithm for semi-automated cell tracking in phase contrast microscopy which requires interactively placed starting points for the cells to track. The comparison shows that supporting geometrical paths in combination with our algorithm allow us to obtain more reliable cell trajectories. PMID:25987193
Optimal parallel algorithms for problems modeled by a family of intervals
NASA Technical Reports Server (NTRS)
Olariu, Stephan; Schwing, James L.; Zhang, Jingyuan
1992-01-01
A family of intervals on the real line provides a natural model for a vast number of scheduling and VLSI problems. Recently, a number of parallel algorithms to solve a variety of practical problems on such a family of intervals have been proposed in the literature. Computational tools are developed, and it is shown how they can be used for the purpose of devising cost-optimal parallel algorithms for a number of interval-related problems including finding a largest subset of pairwise nonoverlapping intervals, a minimum dominating subset of intervals, along with algorithms to compute the shortest path between a pair of intervals and, based on the shortest path, a parallel algorithm to find the center of the family of intervals. More precisely, with an arbitrary family of n intervals as input, all algorithms run in O(log n) time using O(n) processors in the EREW-PRAM model of computation.
ERIC Educational Resources Information Center
Tran, Huu-Khoa; Chiou, Juing -Shian; Peng, Shou-Tao
2016-01-01
In this paper, the feasibility of a Genetic Algorithm Optimization (GAO) education software based Fuzzy Logic Controller (GAO-FLC) for simulating the flight motion control of Unmanned Aerial Vehicles (UAVs) is designed. The generated flight trajectories integrate the optimized Scaling Factors (SF) fuzzy controller gains by using GAO algorithm. The…
Sun, Quanping; Chen, Xiaogang; Chen, Qianliang; Dai, Ning; Liao, Wenhe; He, Ning
2009-10-01
Molar crown is very small and has not only thin-wall, but also complex profile, especially, the occlusal surface of each molar crown has many cusps, ridges and fossae being differently distributed. When conventional processing method is used, it is impossible to machine molar prosthesis rapidly and exactly. To enhance machining velocity and improve the surface precision of molar crown, an algorithm of entity rapid offset-based STL format is put forward. By the application of Zigzag toolpath planning and micro-machining cutter, the finishing toolpaths for high speed milling molar prosthesis are generated. In terms of Mikron UCP800 high-speed machine center, the molar all-crown made of alloy aluminum material is successfully machined. The test results show that the algorithm of tool-path generation works fast, the number of toolpaths is small, and the cutter feeds smoothly. PMID:19947500
A path-following interior-point algorithm for linear and quadratic problems
Wright, S.J.
1993-12-01
We describe an algorithm for the monotone linear complementarity problem that converges for many positive, not necessarily feasible, starting point and exhibits polynomial complexity if some additional assumptions are made on the starting point. If the problem has a strictly complementary solution, the method converges subquadratically. We show that the algorithm and its convergence extend readily to the mixed monotone linear complementarity problem and, hence, to all the usual formulations of the linear programming and convex quadratic programming problems.
Efficient algorithms for semiclassical instanton calculations based on discretized path integrals
Kawatsu, Tsutomu E-mail: smiura@mail.kanazawa-u.ac.jp; Miura, Shinichi E-mail: smiura@mail.kanazawa-u.ac.jp
2014-07-14
Path integral instanton method is a promising way to calculate the tunneling splitting of energies for degenerated two state systems. In order to calculate the tunneling splitting, we need to take the zero temperature limit, or the limit of infinite imaginary time duration. In the method developed by Richardson and Althorpe [J. Chem. Phys. 134, 054109 (2011)], the limit is simply replaced by the sufficiently long imaginary time. In the present study, we have developed a new formula of the tunneling splitting based on the discretized path integrals to take the limit analytically. We have applied our new formula to model systems, and found that this approach can significantly reduce the computational cost and gain the numerical accuracy. We then developed the method combined with the electronic structure calculations to obtain the accurate interatomic potential on the fly. We present an application of our ab initio instanton method to the ammonia umbrella flip motion.
2015-01-01
Allostery can occur by way of subtle cooperation among protein residues (e.g., amino acids) even in the absence of large conformational shifts. Dynamical network analysis has been used to model this cooperation, helping to computationally explain how binding to an allosteric site can impact the behavior of a primary site many ångstroms away. Traditionally, computational efforts have focused on the most optimal path of correlated motions leading from the allosteric to the primary active site. We present a program called Weighted Implementation of Suboptimal Paths (WISP) capable of rapidly identifying additional suboptimal pathways that may also play important roles in the transmission of allosteric signals. Aside from providing signal redundancy, suboptimal paths traverse residues that, if disrupted through pharmacological or mutational means, could modulate the allosteric regulation of important drug targets. To demonstrate the utility of our program, we present a case study describing the allostery of HisH-HisF, an amidotransferase from T. maritima thermotiga. WISP and its VMD-based graphical user interface (GUI) can be downloaded from http://nbcr.ucsd.edu/wisp. PMID:24803851
A surgeon specific automatic path planning algorithm for deep brain stimulation
NASA Astrophysics Data System (ADS)
Liu, Yuan; Dawant, Benoit M.; Pallavaram, Srivatsan; Neimat, Joseph S.; Konrad, Peter E.; D'Haese, Pierre-Francois; Datteri, Ryan D.; Landman, Bennett A.; Noble, Jack H.
2012-02-01
In deep brain stimulation surgeries, stimulating electrodes are placed at specific targets in the deep brain to treat neurological disorders. Reaching these targets safely requires avoiding critical structures in the brain. Meticulous planning is required to find a safe path from the cortical surface to the intended target. Choosing a trajectory automatically is difficult because there is little consensus among neurosurgeons on what is optimal. Our goals are to design a path planning system that is able to learn the preferences of individual surgeons and, eventually, to standardize the surgical approach using this learned information. In this work, we take the first step towards these goals, which is to develop a trajectory planning approach that is able to effectively mimic individual surgeons and is designed such that parameters, which potentially can be automatically learned, are used to describe an individual surgeon's preferences. To validate the approach, two neurosurgeons were asked to choose between their manual and a computed trajectory, blinded to their identity. The results of this experiment showed that the neurosurgeons preferred the computed trajectory over their own in 10 out of 40 cases. The computed trajectory was judged to be equivalent to the manual one or otherwise acceptable in 27 of the remaining cases. These results demonstrate the potential clinical utility of computer-assisted path planning.
Research on Taxiway Path Optimization Based on Conflict Detection.
Zhou, Hang; Jiang, Xinxin
2015-01-01
Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency. PMID:26226485
Research on Taxiway Path Optimization Based on Conflict Detection
Zhou, Hang; Jiang, Xinxin
2015-01-01
Taxiway path planning is one of the effective measures to make full use of the airport resources, and the optimized paths can ensure the safety of the aircraft during the sliding process. In this paper, the taxiway path planning based on conflict detection is considered. Specific steps are shown as follows: firstly, make an improvement on A * algorithm, the conflict detection strategy is added to search for the shortest and safe path in the static taxiway network. Then, according to the sliding speed of aircraft, a time table for each node is determined and the safety interval is treated as the constraint to judge whether there is a conflict or not. The intelligent initial path planning model is established based on the results. Finally, make an example in an airport simulation environment, detect and relieve the conflict to ensure the safety. The results indicate that the model established in this paper is effective and feasible. Meanwhile, make comparison with the improved A*algorithm and other intelligent algorithms, conclude that the improved A*algorithm has great advantages. It could not only optimize taxiway path, but also ensure the safety of the sliding process and improve the operational efficiency. PMID:26226485
NASA Astrophysics Data System (ADS)
Xu, Xianrui; Li, Xiaojie; Hu, Yujie; Peng, Zhongren
2012-12-01
In recent years, the increasing development of traffic information collection technology based on floating car data has been recognized, which gives rise to the establishment of real-time traffic information dissemination system in many cities. However, the recent massive construction of urban elevated roads hinders the processing of corresponding GPS data and further extraction of traffic information (e.g., identifying the real travel path), as a result of the frequent transfer of vehicles between ground and elevated road travel. Consequently, an algorithm for identifying the travel road type (i.e., elevated or ground road) of vehicles is designed based on the vehicle traveling features, geometric and topological characteristics of the elevated road network, and a trajectory model proposed in the present study. To be specific, the proposed algorithm can detect the places where a vehicle enters, leaves or crosses under elevated roads. An experiment of 10 sample taxis in Shanghai, China was conducted, and the comparison of our results and results that are obtained from visual interpretation validates the proposed algorithm.
NASA Astrophysics Data System (ADS)
Bouallegue, Kais; Chaari, Abdessattar
In this study, one propose to study a numeric type strategy permitting the generation of any shape of path in view of the scheduling of the trajectories for a car-like mobile robot where the planned motions considered are continuous sequences in the space of the robot. These paths are programmed in order to have some types of closed or open trajectories. One is interested in the motion control of the robot from an initial position to a final position while optimizing the consumed energy in its alternated circular motion on both sides of the segment joining these two points. In this study, one presents a new method based on a numeric approach conceived from the kinematics equations of the robot. This new technique of numeric, adaptive and dynamic control of the robot is implemented on DSP21065L of the SHARC family. This algorithm assures the robot control of an initial position of departure to a final position of arrival without the existence of obstacles.
Xie, Xian Ming; Zeng, Qing Ning
2015-11-01
This paper presents an efficient and robust phase unwrapping algorithm which combines an unscented Kalman filter (UKF) with a strategy of quantizing a paths-guided map and a pixel classification strategy based on phase quality information. The advantages of the proposed method depend on the following contributions: (1) the strategy of quantizing the paths-guided map can accelerate the process of searching unwrapping paths and greatly reducing time consumption on the unwrapping procedure; (2) the pixel classification strategy proposed by this paper can reduce the error propagation effect by decreasing the amounts of pixels with equal quantized paths-guided value in the process of unwrapping; and (3) the unscented Kalman filter enables simultaneous filtering and unwrapping without the information loss caused by linearization of a nonlinear model. In addition, a new paths-guided map derived from a phase quality map is inserted into the strategy of quantizing the paths-guided map to provide a more robust path of unwrapping, and then ensures better unwrapping results. Results obtained from synthetic data and real data show that the proposed method can efficiently obtain better solutions with respect to some of the most used algorithms. PMID:26560585
Boninsegni, M.; Prokof'ev, N. V.; Svistunov, B. V.
2006-09-15
A detailed description is provided of a new worm algorithm, enabling the accurate computation of thermodynamic properties of quantum many-body systems in continuous space, at finite temperature. The algorithm is formulated within the general path integral Monte Carlo (PIMC) scheme, but also allows one to perform quantum simulations in the grand canonical ensemble, as well as to compute off-diagonal imaginary-time correlation functions, such as the Matsubara Green function, simultaneously with diagonal observables. Another important innovation consists of the expansion of the attractive part of the pairwise potential energy into elementary (diagrammatic) contributions, which are then statistically sampled. This affords a complete microscopic account of the long-range part of the potential energy, while keeping the computational complexity of all updates independent of the size of the simulated system. The computational scheme allows for efficient calculations of the superfluid fraction and off-diagonal correlations in space-time, for system sizes which are orders of magnitude larger than those accessible to conventional PIMC. We present illustrative results for the superfluid transition in bulk liquid {sup 4}He in two and three dimensions, as well as the calculation of the chemical potential of hcp {sup 4}He.
MetaPath Online: a web server implementation of the network expansion algorithm.
Handorf, Thomas; Ebenhh, Oliver
2007-07-01
We designed a web server for the analysis of biosynthetic capacities of metabolic networks. The implementation is based on the network expansion algorithm and the concept of scopes. For a given network and predefined external resources, called the seed metabolites, the scope is defined as the set of products which the network is in principle able to produce. Through the web interface the user can select a variety of metabolic networks or provide his or her own list of reactions. The information on the organism-specific networks has been extracted from the KEGG database. By choosing an arbitrary set of seed compounds, the user can obtain the corresponding scopes. With our web server application we provide an easy to use interface to perform a variety of structural and functional network analyses. Problems that can be addressed using the web server include the calculation of synthesizing capacities, the visualization of synthesis pathways, functional analysis of mutant networks or comparative analysis of related species. The web server is accessible through http://scopes.biologie.hu-berlin.de. PMID:17483511
Probabilistic minimal path for automated esophagus segmentation
NASA Astrophysics Data System (ADS)
Rousson, Mikael; Bai, Ying; Xu, Chenyang; Sauer, Frank
2006-03-01
This paper introduces a probabilistic shortest path approach to extract the esophagus from CT images. In this modality, the absence of strong discriminative features in the observed image make the problem ill-posed without the introduction of additional knowledge constraining the problem. The solution presented in this paper relies on learning and integrating contextual information. The idea is to model spatial dependency between the structure of interest and neighboring organs that may be easier to extract. Observing that the left atrium (LA) and the aorta are such candidates for the esophagus, we propose to learn the esophagus location with respect to these two organs. This dependence is learned from a set of training images where all three structures have been segmented. Each training esophagus is registered to a reference image according to a warping that maps exactly the reference organs. From the registered esophagi, we define the probability of the esophagus centerline relative to the aorta and LA. To extract a new centerline, a probabilistic criterion is defined from a Bayesian formulation that combines the prior information with the image data. Given a new image, the aorta and LA are first segmented and registered to the reference shapes and then, the optimal esophagus centerline is obtained with a shortest path algorithm. Finally, relying on the extracted centerline, coupled ellipse fittings allow a robust detection of the esophagus outer boundary.
Information Spread of Emergency Events: Path Searching on Social Networks
Hu, Hongzhi; Wu, Tunan
2014-01-01
Emergency has attracted global attentions of government and the public, and it will easily trigger a series of serious social problems if it is not supervised effectively in the dissemination process. In the Internet world, people communicate with each other and form various virtual communities based on social networks, which lead to a complex and fast information spread pattern of emergency events. This paper collects Internet data based on data acquisition and topic detection technology, analyzes the process of information spread on social networks, describes the diffusions and impacts of that information from the perspective of random graph, and finally seeks the key paths through an improved IBF algorithm. Application cases have shown that this algorithm can search the shortest spread paths efficiently, which may help us to guide and control the information dissemination of emergency events on early warning. PMID:24600323
Information spread of emergency events: path searching on social networks.
Dai, Weihui; Hu, Hongzhi; Wu, Tunan; Dai, Yonghui
2014-01-01
Emergency has attracted global attentions of government and the public, and it will easily trigger a series of serious social problems if it is not supervised effectively in the dissemination process. In the Internet world, people communicate with each other and form various virtual communities based on social networks, which lead to a complex and fast information spread pattern of emergency events. This paper collects Internet data based on data acquisition and topic detection technology, analyzes the process of information spread on social networks, describes the diffusions and impacts of that information from the perspective of random graph, and finally seeks the key paths through an improved IBF algorithm. Application cases have shown that this algorithm can search the shortest spread paths efficiently, which may help us to guide and control the information dissemination of emergency events on early warning. PMID:24600323
NRMRL-RTP-P- 568 Childers, J.W., Phillips, W.J., Thompson*, E.L., Harris*, D.B., Kirchgessner*, D.A., Natschke, D.F., and Clayton, M.J. Comparison of an Innovative Nonlinear Algorithm to Classical Least Squares for Analyzing Open-Path Fourier Transform Infrared Spectra Collecte...
An exact algorithm for the geodesic distance between phylogenetic trees.
Kupczok, Anne; von Haeseler, Arndt; Klaere, Steffen
2008-01-01
The geometrical representation of the space of phylogenetic trees implies a metric on the space of weighted trees. This metric, the geodesic distance, is the length of the shortest path through that space. We present an exact algorithm to compute this metric. For biologically reasonable trees, the implementation allows fast computations of the geodesic distance, although the running time of the algorithm is worst-case exponential. The algorithm was applied to pairs of 118 gene trees of the metazoa. The results show that a special path in tree space, the cone path, which can be computed in linear time, is a good approximation of the geodesic distance. The program GeoMeTree is a python implementation of the geodesic distance, and it is approximations and is available from www.cibiv.at/software/geometree. PMID:18631022
Methodology for Augmenting Existing Paths with Additional Parallel Transects
Wilson, John E.
2013-09-30
Visual Sample Plan (VSP) is sample planning software that is used, among other purposes, to plan transect sampling paths to detect areas that were potentially used for munition training. This module was developed for application on a large site where existing roads and trails were to be used as primary sampling paths. Gap areas between these primary paths needed to found and covered with parallel transect paths. These gap areas represent areas on the site that are more than a specified distance from a primary path. These added parallel paths needed to optionally be connected together into a single path—the shortest path possible. The paths also needed to optionally be attached to existing primary paths, again with the shortest possible path. Finally, the process must be repeatable and predictable so that the same inputs (primary paths, specified distance, and path options) will result in the same set of new paths every time. This methodology was developed to meet those specifications.
NASA Technical Reports Server (NTRS)
Hueschen, Richard M.
1988-01-01
This report contains results of flight tests for three path update algorithms designed to provide smooth transition for an aircraft guidance system from DME, VORTAC, and barometric navaids to the more precise MLS by modifying the desired 3-D flight path. The first algorithm, called Zero Cross Track, eliminates the discontinuity in cross-track and altitude error at transition by designating the first valid MLS aircraft position as the desired first waypoint, while retaining all subsequent waypoints. The discontinuity in track angle is left unaltered. The second, called Tangent Path, also eliminates the discontinuity in cross-track and altitude errors and chooses a new desired heading to be tangent to the next oncoming circular arc turn. The third, called Continued Track, eliminates the discontinuity in cross-track, altitude, and track angle errors by accepting the current MLS position and track angle as the desired ones and recomputes the location of the next waypoint. The flight tests were conducted on the Transportation Systems Research Vehicle, a small twin-jet transport aircraft modified for research under the Advanced Transport Operating Systems program at Langley Research Center. The flight tests showed that the algorithms provided a smooth transition to MLS.
Multipath Routing Algorithm Applied to Cloud Data Center Services
NASA Astrophysics Data System (ADS)
Matsuura, Hiroshi
Cloud data center services, such as video on demand (VoD) and sensor data monitoring, have become popular. The quality of service (QoS) between a client and a cloud data center should be assured by satisfying each service's required bandwidth and delay. Multipath traffic engineering is effective for dispersing traffic flows on a network; therefore, an improved k-shortest paths first (k-SPF) algorithm is applied to these cloud data center services to satisfy their required QoS. k-SPF can create a set of multipaths between a cloud data center and all edge routers, to which client nodes are connected, within one algorithm process. Thus, k-SPF can produce k shortest simple paths between a cloud data center and every access router faster than with conventional Yen's algorithm. By using a parameter in the algorithm, k-SPF can also impartially use links on a network and shorten the average hop-count and number of necessary MPLS labels for multiple paths that comprise a multipath.
NASA Astrophysics Data System (ADS)
Wojcik, E. A.; Ni, D.; Lam, T. M.; Le Coz, Y. L.
2015-07-01
We have created the first stochastic SoP (Sum-over-Paths) algorithm to extract third-order impulse-response (IR) moment within RC IC interconnects. It employs a newly discovered Feynman SoP Postulate. Importantly, our algorithm maintains computational efficiency and full parallelism. Our approach begins with generation of s-domain nodal-voltage equations. We then perform a Taylor-series expansion of the circuit transfer function. These expansions yield transition diagrams involving mathematical coupling constants, or weight factors, in integral powers of complex frequency s. Our SoP Postulate enables stochastic evaluation of path sums within the circuit transition diagram to order s3-corresponding to the order of IR moment (m3) we seek here. We furnish, for the first time, an informal algebraic proof independently validating our SoP Postulate and algorithm. We list, as well, detailed procedural steps, suitable for coding, that define an efficient stochastic algorithm for m3 IR extraction. Origins of the algorithm's statistical "capacitor-number cubed" correction and "double-counting" weight factors are explained, for completeness. Our algorithm was coded and successfully tested against exact analytical solutions for 3-, 5-, and 10-stage RC lines. We achieved better than 0.65% 1-σ error convergence, after only 10K statistical samples, in less than 1 s of 2-GHz Pentium® execution time. These results continue to suggest that stochastic SoP algorithms may find useful application in circuit analysis of massively coupled networks, such as those encountered in high-end digital IC-interconnect CAD.
A fast algorithm for computing geodesic distances in tree space.
Owen, Megan; Provan, J Scott
2011-01-01
Comparing and computing distances between phylogenetic trees are important biological problems, especially for models where edge lengths play an important role. The geodesic distance measure between two phylogenetic trees with edge lengths is the length of the shortest path between them in the continuous tree space introduced by Billera, Holmes, and Vogtmann. This tree space provides a powerful tool for studying and comparing phylogenetic trees, both in exhibiting a natural distance measure and in providing a euclidean-like structure for solving optimization problems on trees. An important open problem is to find a polynomial time algorithm for finding geodesics in tree space. This paper gives such an algorithm, which starts with a simple initial path and moves through a series of successively shorter paths until the geodesic is attained. PMID:21071792
Efficient Algorithms and Data Structures for Massive Data Sets
NASA Astrophysics Data System (ADS)
Alka
2010-05-01
For many algorithmic problems, traditional algorithms that optimise on the number of instructions executed prove expensive on I/Os. Novel and very different design techniques, when applied to these problems, can produce algorithms that are I/O efficient. This thesis adds to the growing chorus of such results. The computational models we use are the external memory model and the W-Stream model. On the external memory model, we obtain the following results. (1) An I/O efficient algorithm for computing minimum spanning trees of graphs that improves on the performance of the best known algorithm. (2) The first external memory version of soft heap, an approximate meldable priority queue. (3) Hard heap, the first meldable external memory priority queue that matches the amortised I/O performance of the known external memory priority queues, while allowing a meld operation at the same amortised cost. (4) I/O efficient exact, approximate and randomised algorithms for the minimum cut problem, which has not been explored before on the external memory model. (5) Some lower and upper bounds on I/Os for interval graphs. On the W-Stream model, we obtain the following results. (1) Algorithms for various tree problems and list ranking that match the performance of the best known algorithms and are easier to implement than them. (2) Pass efficient algorithms for sorting, and the maximal independent set problems, that improve on the best known algorithms. (3) Pass efficient algorithms for the graphs problems of finding vertex-colouring, approximate single source shortest paths, maximal matching, and approximate weighted vertex cover. (4) Lower bounds on passes for list ranking and maximal matching. We propose two variants of the W-Stream model, and design algorithms for the maximal independent set, vertex-colouring, and planar graph single source shortest paths problems on those models.
NASA Astrophysics Data System (ADS)
Gilliam, Kyle L.
As part of former and current sea-surface altimetry missions, brightness temperatures measured by nadir-viewing 18-34 GHz microwave radiometers are used to determine apparent path delay due to variations in index of refraction caused by changes in the humidity of the troposphere. This tropospheric wet-path delay can be retrieved from these measurements with sufficient accuracy over open oceans. However, in coastal zones and over inland water the highly variable radiometric emission from land surfaces at microwave frequencies has prevented accurate retrieval of wet-path delay using conventional algorithms. To extend wet path delay corrections into the coastal zone (within 25 km of land) and to inland water bodies, a new method is proposed to correct for tropospheric wet-path delay by using higher-frequency radiometer channels from approximately 50-170 GHz to provide sufficiently small fields of view on the surface. A new approach is introduced based on the variability of observations in several millimeter-wave radiometer channels on small spatial scales due to surface emissivity in contrast to the larger-scale variability in atmospheric absorption. The new technique is based on the measurement of deflection ratios among several radiometric bands to estimate the transmissivity of the atmosphere due to water vapor. To this end, the Brightness Temperature Deflection Ratio (BTDR) method is developed starting from a radiative transfer model for a downward-looking microwave radiometer, and is extended to pairs of frequency channels to retrieve the wet path delay. Then a mapping between the wet transmissivity and wet-path delay is performed using atmospheric absorption models. A frequency selection study is presented to determine the suitability of frequency sets for accurate retrieval of tropospheric wet-path delay, and comparisons are made to frequency sets based on currently-available microwave radiometers. Statistical noise analysis results are presented for a number of frequency sets. Additionally, this thesis demonstrates a method of identifying contrasting surface pixels using edge detection algorithms to identify contrasting scenes in brightness temperature images for retrieval with the BTDR method. Finally, retrievals are demonstrated from brightness temperatures measured by Special Sensor Microwave Imager/Sounder (SSMIS) instruments on three satellites for coastal and inland water scenes. For validation, these retrievals are qualitatively compared to independently-derived total precipitable water products from SSMIS, the Tropical Rainfall Measurement Mission (TRMM) Microwave Imager (TMI) and the Advanced Microwave Sounding Radiometer for Earth Observing System (EOS) (AMSR-E). Finally, a quantitative method for analyzing the data consistency of the retrieval is presented as an estimate of the error in the retrieved wet path delay. From these comparisons, one can see that the BTDR method shows promise for retrieving wet path delays over inland water and coastal regions. Finally, several additional future uses for the algorithm are described.
NASA Astrophysics Data System (ADS)
Ciesielski, Krzysztof Chris; Udupa, Jayaram K.; Falcão, A. X.; Miranda, P. A. V.
2012-02-01
We present a general graph-cut segmentation framework GGC, in which the delineated objects returned by the algorithms optimize the energy functions associated with the lp norm, 1 <= p <= ∞. Two classes of well known algorithms belong to GGC: the standard graph cut GC (such as the min-cut/max-flow algorithm) and the relative fuzzy connectedness algorithms RFC (including iterative RFC, IRFC). The norm-based description of GGC provides more elegant and mathematically better recognized framework of our earlier results from [18, 19]. Moreover, it allows precise theoretical comparison of GGC representable algorithms with the algorithms discussed in a recent paper [22] (min-cut/max-flow graph cut, random walker, shortest path/geodesic, Voronoi diagram, power watershed/shortest path forest), which optimize, via lp norms, the intermediate segmentation step, the labeling of scene voxels, but for which the final object need not optimize the used lp energy function. Actually, the comparison of the GGC representable algorithms with that encompassed in the framework described in [22] constitutes the main contribution of this work.
Automatic tracking of neuro vascular tree paths
NASA Astrophysics Data System (ADS)
Suryanarayanan, S.; Gopinath, A.; Mallya, Y.; Shriram, K. S.; Joshi, M.
2006-03-01
3-D analysis of blood vessels from volumetric CT and MR datasets has many applications ranging from examination of pathologies such as aneurysm and calcification to measurement of cross-sections for therapy planning. Segmentation of the vascular structures followed by tracking is an important processing step towards automating the 3-D vessel analysis workflow. This paper demonstrates a fast and automated algorithm for tracking the major arterial structures that have been previously segmented. Our algorithm uses anatomical knowledge to identify the start and end points in the vessel structure that allows automation. Voxel coding scheme is used to code every voxel in the vessel based on its geodesic distance from the start point. A shortest path based iterative region growing is used to extract the vessel tracks that are subsequently smoothed using an active contour method. The algorithm also has the ability to automatically detect bifurcation points of major arteries. Results are shown for tracking the major arteries such as the common carotid, internal carotid, vertebrals, and arteries coming off the Circle of Willis across multiple cases with various data related and pathological challenges from 7 CTA cases and 2 MR Time of Flight (TOF) cases.
NASA Technical Reports Server (NTRS)
1975-01-01
The implementation of the algorithms used in the flight program to approximate elementary functions and mathematical procedures was checked. This was done by verifying that at least one, and in most cases, more than one function computed through the use of the algorithms was calculated properly. The following algorithms were checked: sine-cosine, arctangent, natural logarithm, square root, inverse square root, as well as the vector dot and cross products.
Pair correlations in classical crystals: The shortest-graph method
NASA Astrophysics Data System (ADS)
Yurchenko, Stanislav O.; Kryuchkov, Nikita P.; Ivlev, Alexei V.
2015-07-01
The shortest-graph method is applied to calculate the pair correlation functions of crystals. The method is based on the representation of individual correlation peaks by the Gaussian functions, summed along the shortest graph connecting the two given points. The analytical expressions for the Gaussian parameters are derived for two- and three-dimensional crystals. The obtained results are compared with the pair correlation functions deduced from the molecular dynamics simulations of Yukawa, inverse-power law, Weeks-Chandler-Andersen, and Lennard-Jones crystals. By calculating the Helmholtz free energy, it is shown that the method is particularly accurate for soft interparticle interactions and for low temperatures, i.e., when the anharmonicity effects are insignificant. The accuracy of the method is further demonstrated by deriving the solid-solid transition line for Yukawa crystals, and the compressibility for inverse-power law crystals.
NASA Astrophysics Data System (ADS)
Rajagopalan, Srinivasan; Robb, Richard
2006-03-01
The degree of match between the delineation result produced by a segmentation technique and the ground truth can be assessed using robust "presence-absence" resemblance measures. Previously, we had investigated and introduced an exhaustive list of similarity indices for assessing multiple segmentation techniques. However, these measures are highly sensitive to even minor boundary perturbations which imminently manifest in the segmentations of random biphasic spaces reminiscent of the stochastic pore-solid distributions in the tissue engineering scaffolds. This paper investigates the ideas adapted from ecology to emphasize global resemblances and ignore minor local dissimilarities. It uses concepts from graph theory to perform controlled local mutations in order to maximize the similarities. The effect of this adjustment is investigated on a comprehensive list (forty nine) of similarity indices sensitive to the over- and under- estimation errors associated with image delineation tasks.
A Dynamic Programming Approach to Identifying the Shortest Path in Virtual Learning Environments
ERIC Educational Resources Information Center
Fazlollahtabar, Hamed
2008-01-01
E-learning has been widely adopted as a promising solution by many organizations to offer learning-on-demand opportunities to individual employees (learners) in order to reduce training time and cost. While successful information systems models have received much attention among researchers, little research has been conducted to assess the success
Handelman, Samuel K; Aaronson, Jacob M.; Seweryn, Michal; Voronkin, Igor; Kwiek, Jesse J.; Sadee, Wolfgang; Verducci, Joseph S.; Janies, Daniel A.
2015-01-01
Background Associations between genotype and phenotype provide insight into the evolution of pathogenesis, drug resistance, and the spread of pathogens between hosts. However, common ancestry can lead to apparent associations between biologically unrelated features. The novel method Cladograms with Path to Event (ClaPTE) detects associations between character-pairs (either a pair of mutations or a mutation paired with a phenotype) while adjusting for common ancestry, using phylogenetic trees. Methods ClaPTE tests for character-pairs changing close together on the phylogenetic tree, consistent with an associated character-pair. ClaPTE is compared to three existing methods (independent contrasts, mixed model, and likelihood ratio) to detect character-pair associations adjusted for common ancestry. Comparisons utilize simulations on gene trees for: HIV Env, HIV promoter, and bacterial DnaJ and GuaB; and case studies for Oseltamavir resistance in Influenza, and for DnaJ and GuaB. Simulated data include both true-positive/associated character-pairs, and true-negative/not-associated character-pairs, used to assess type I (frequency of p-values in true-negatives) and type II (sensitivity to true-positives) error control. Results and conclusions ClaPTE has competitive sensitivity and better type I error control than existing methods. In the Influenza/Oseltamavir case study, ClaPTE reports no new permissive mutations but detects associations between adjacent (in primary sequence) amino acid positions which other methods miss. In the DnaJ and GuaB case study, ClaPTE reports more frequent associations between positions both from the same protein family than between positions from different families, in contrast to other methods. In both case studies, the results from ClaPTE are biologically plausible. PMID:25577610
Smith, E.A.; Farrar, M.R.; Xiang, X.; Turk, F.J.; Mugnai, A.
1997-04-01
This study presents research in support of the design and implementation of a combined radar-radiometer algorithm to be used for precipitation retrieval during the Tropical Rainfall Measuring Mission (TRMM). The combined algorithm approach is expected to overcome various difficulties that arise with a radar-only approach, particularly related to estimates of path-integrated attenuation (PIA)along the TRMM radar beam. A technique is described for estimating PIA at the 13.8-GHz frequency of the TRMM precipitation radar (PR) from 10.7-GHz brightness temperature T{sub B} measurements obtained from the TRMM microwave imager. Through the use of variational or probabilistic techniques, the independent PIA calculations provide a means to adjust for errors that accumulate in estimates of range-dependent rain rates at progressively increasing range positions from radar reflectivity vectors. The accepted radar approach for obtaining PIA from ocean-viewing radar reflectivity measurements is called the surface reference technique, a scheme based on the difference in ocean surface cross sections between cloud-free and raining radar pixels. This technique has encountered problems, which are discussed and analyzed with the aid of coordinated aircraft radar (Airborne Rain Mapping Radar) and radiometer (Advanced Microwave Precipitation Radiometer) measurements obtained during the west Pacific Tropical Ocean Global Atmosphere Coupled Ocean-Atmosphere Response Experiment in 1993. 97 refs., 12 figs., 5 tabs.
Dispersion of nonlinear group velocity determines shortest envelope solitons
NASA Astrophysics Data System (ADS)
Amiranashvili, Sh.; Bandelow, U.; Akhmediev, N.
2011-10-01
We demonstrate that a generalized nonlinear Schrödinger equation (NSE), which includes dispersion of the intensity-dependent group velocity, allows for exact solitary solutions. In the limit of a long pulse duration, these solutions naturally converge to a fundamental soliton of the standard NSE. In particular, the peak pulse intensity times squared pulse duration is constant. For short durations, this scaling gets violated and a cusp of the envelope may be formed. The limiting singular solution determines then the shortest possible pulse duration and the largest possible peak power. We obtain these parameters explicitly in terms of the parameters of the generalized NSE.
Rminimax: An Optimally Randomized MINIMAX Algorithm.
Díez, Silvia García; Laforge, Jérôme; Saerens, Marco
2013-02-01
This paper proposes a simple extension of the celebrated MINIMAX algorithm used in zero-sum two-player games, called Rminimax. The Rminimax algorithm allows controlling the strength of an artificial rival by randomizing its strategy in an optimal way. In particular, the randomized shortest-path framework is applied for biasing the artificial intelligence (AI) adversary toward worse or better solutions, therefore controlling its strength. In other words, our model aims at introducing/implementing bounded rationality to the MINIMAX algorithm. This framework takes into account all possible strategies by computing an optimal tradeoff between exploration (quantified by the entropy spread in the tree) and exploitation (quantified by the expected cost to an end game) of the game tree. As opposed to other tree-exploration techniques, this new algorithm considers complete paths of a tree (strategies) where a given entropy is spread. The optimal randomized strategy is efficiently computed by means of a simple recurrence relation while keeping the same complexity as the original MINIMAX. As a result, the Rminimax implements a nondeterministic strength-adapted AI opponent for board games in a principled way, thus avoiding the assumption of complete rationality. Simulations on two common games show that Rminimax behaves as expected. PMID:22893439
Improving path planning with learning
Chen, P.C.
1991-12-16
We present a learning algorithm designed to improve robot path planning. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, it learns a sparse network of useful robot subgoals which guide and support fast planning. We analyze the algorithm theoretically by developing some general techniques useful in characterizing behaviors of probabilistic learning. We also demonstrate the effectiveness of the algorithm empirically with an existing path planner in practical environments. The learning algorithm not only reduces the time cost of existing planners, but also increases their capability in solving difficult tasks. 7 refs.
COStar: a D-star Lite-based dynamic search algorithm for codon optimization.
Liu, Xiaowu; Deng, Riqiang; Wang, Jinwen; Wang, Xunzhang
2014-03-01
Codon optimized genes have two major advantages: they simplify de novo gene synthesis and increase the expression level in target hosts. Often they achieve this by altering codon usage in a given gene. Codon optimization is complex because it usually needs to achieve multiple opposing goals. In practice, finding an optimal sequence from the massive number of possible combinations of synonymous codons that can code for the same amino acid sequence is a challenging task. In this article, we introduce COStar, a D-star Lite-based dynamic search algorithm for codon optimization. The algorithm first maps the codon optimization problem into a weighted directed acyclic graph using a sliding window approach. Then, the D-star Lite algorithm is used to compute the shortest path from the start site to the target site in the resulting graph. Optimizing a gene is thus converted to a search in real-time for a shortest path in a generated graph. Using in silico experiments, the performance of the algorithm was shown by optimizing the different genes including the human genome. The results suggest that COStar is a promising codon optimization tool for de novo gene synthesis and heterologous gene expression. PMID:24316385
Azuri, Asaf; Engel, Hamutal; Doron, Dvir; Major, Dan Thomas
2011-05-10
A practical approach to treat nuclear quantum mechanical (QM) effects in simulations of condensed phases, such as enzymes, is via Feynman path integral (PI) formulations. Typically, the standard primitive approximation (PA) is employed in enzymatic PI simulations. Nonetheless, these PI simulations are computationally demanding due to the large number of discretizations, or beads, required to obtain converged results. The efficiency of PI simulations may be greatly improved if higher order factorizations of the density matrix operator are employed. Herein, we compare the results of model calculations obtained employing the standard PA, the improved operator of Takahashi and Imada (TI), and several gradient-based forward corrector algorithms due to Chin (CH). The quantum partition function is computed for the harmonic oscillator, Morse, symmetric, and asymmetric double well potentials. These potentials are simple models for nuclear quantum effects, such as zero-point energy and tunneling. It is shown that a unique set of CH parameters may be employed for a variety of systems. Additionally, the nuclear QM effects of a water molecule, treated with density functional theory, are computed. Finally, we derive a practical perturbation expression for efficient computation of isotope effects in chemical systems using the staging algorithm. This new isotope effect approach is tested in conjunction with the PA, TI, and CH methods to compute the equilibrium isotope effect in the Schiff base-oxyanion keto-enol tautomerism in the cofactor pyridoxal-5'-phosphate in the enzyme alanine racemase. The study of the different factorization methods reveals that the higher-order actions converge substantially faster than the PA approach, at a moderate computational cost. PMID:26610122
Mobile transporter path planning
NASA Technical Reports Server (NTRS)
Baffes, Paul; Wang, Lui
1990-01-01
The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.
Algorithmic Strategies in Combinatorial Chemistry
GOLDMAN,DEBORAH; ISTRAIL,SORIN; LANCIA,GIUSEPPE; PICCOLBONI,ANTONIO; WALENZ,BRIAN
2000-08-01
Combinatorial Chemistry is a powerful new technology in drug design and molecular recognition. It is a wet-laboratory methodology aimed at ``massively parallel'' screening of chemical compounds for the discovery of compounds that have a certain biological activity. The power of the method comes from the interaction between experimental design and computational modeling. Principles of ``rational'' drug design are used in the construction of combinatorial libraries to speed up the discovery of lead compounds with the desired biological activity. This paper presents algorithms, software development and computational complexity analysis for problems arising in the design of combinatorial libraries for drug discovery. The authors provide exact polynomial time algorithms and intractability results for several Inverse Problems-formulated as (chemical) graph reconstruction problems-related to the design of combinatorial libraries. These are the first rigorous algorithmic results in the literature. The authors also present results provided by the combinatorial chemistry software package OCOTILLO for combinatorial peptide design using real data libraries. The package provides exact solutions for general inverse problems based on shortest-path topological indices. The results are superior both in accuracy and computing time to the best software reports published in the literature. For 5-peptoid design, the computation is rigorously reduced to an exhaustive search of about 2% of the search space; the exact solutions are found in a few minutes.
Lee, Chankyun; Cao, Xiaoyuan; Yoshikane, Noboru; Tsuritani, Takehiro; Rhee, June-Koo Kevin
2015-10-19
The feasibility of software-defined optical networking (SDON) for a practical application critically depends on scalability of centralized control performance. The paper, highly scalable routing and wavelength assignment (RWA) algorithms are investigated on an OpenFlow-based SDON testbed for proof-of-concept demonstration. Efficient RWA algorithms are proposed to achieve high performance in achieving network capacity with reduced computation cost, which is a significant attribute in a scalable centralized-control SDON. The proposed heuristic RWA algorithms differ in the orders of request processes and in the procedures of routing table updates. Combined in a shortest-path-based routing algorithm, a hottest-request-first processing policy that considers demand intensity and end-to-end distance information offers both the highest throughput of networks and acceptable computation scalability. We further investigate trade-off relationship between network throughput and computation complexity in routing table update procedure by a simulation study. PMID:26480397
A Decision Processing Algorithm for CDC Location Under Minimum Cost SCM Network
NASA Astrophysics Data System (ADS)
Park, N. K.; Kim, J. Y.; Choi, W. Y.; Tian, Z. M.; Kim, D. J.
Location of CDC in the matter of network on Supply Chain is becoming on the high concern these days. Present status of methods on CDC has been mainly based on the calculation manually by the spread sheet to achieve the goal of minimum logistics cost. This study is focused on the development of new processing algorithm to overcome the limit of present methods, and examination of the propriety of this algorithm by case study. The algorithm suggested by this study is based on the principle of optimization on the directive GRAPH of SCM model and suggest the algorithm utilizing the traditionally introduced MST, shortest paths finding methods, etc. By the aftermath of this study, it helps to assess suitability of the present on-going SCM network and could be the criterion on the decision-making process for the optimal SCM network building-up for the demand prospect in the future.
NASA Astrophysics Data System (ADS)
Cheng, Jun; Zhang, Jun; Tian, Jinwen
2015-12-01
Based on deep analysis of the LiveWire interactive boundary extraction algorithm, a new algorithm focusing on improving the speed of LiveWire algorithm is proposed in this paper. Firstly, the Haar wavelet transform is carried on the input image, and the boundary is extracted on the low resolution image obtained by the wavelet transform of the input image. Secondly, calculating LiveWire shortest path is based on the control point set direction search by utilizing the spatial relationship between the two control points users provide in real time. Thirdly, the search order of the adjacent points of the starting node is set in advance. An ordinary queue instead of a priority queue is taken as the storage pool of the points when optimizing their shortest path value, thus reducing the complexity of the algorithm from O[n2] to O[n]. Finally, A region iterative backward projection method based on neighborhood pixel polling has been used to convert dual-pixel boundary of the reconstructed image to single-pixel boundary after Haar wavelet inverse transform. The algorithm proposed in this paper combines the advantage of the Haar wavelet transform and the advantage of the optimal path searching method based on control point set direction search. The former has fast speed of image decomposition and reconstruction and is more consistent with the texture features of the image and the latter can reduce the time complexity of the original algorithm. So that the algorithm can improve the speed in interactive boundary extraction as well as reflect the boundary information of the image more comprehensively. All methods mentioned above have a big role in improving the execution efficiency and the robustness of the algorithm.
Rigdon, J. Brian; Smith, Marcus Daniel; Mulder, Samuel A
2014-01-07
PathFinder is a graph search program, traversing a directed cyclic graph to find pathways between labeled nodes. Searches for paths through ordered sequences of labels are termed signatures. Determining the presence of signatures within one or more graphs is the primary function of Path Finder. Path Finder can work in either batch mode or interactively with an analyst. Results are limited to Path Finder whether or not a given signature is present in the graph(s).
NASA Astrophysics Data System (ADS)
Luangpaiboon, P.
2009-10-01
Many entrepreneurs face to extreme conditions for instances; costs, quality, sales and services. Moreover, technology has always been intertwined with our demands. Then almost manufacturers or assembling lines adopt it and come out with more complicated process inevitably. At this stage, products and service improvement need to be shifted from competitors with sustainability. So, a simulated process optimisation is an alternative way for solving huge and complex problems. Metaheuristics are sequential processes that perform exploration and exploitation in the solution space aiming to efficiently find near optimal solutions with natural intelligence as a source of inspiration. One of the most well-known metaheuristics is called Ant Colony Optimisation, ACO. This paper is conducted to give an aid in complicatedness of using ACO in terms of its parameters: number of iterations, ants and moves. Proper levels of these parameters are analysed on eight noisy continuous non-linear continuous response surfaces. Considering the solution space in a specified region, some surfaces contain global optimum and multiple local optimums and some are with a curved ridge. ACO parameters are determined through hybridisations of Modified Simplex and Simulated Annealing methods on the path of Steepest Ascent, SAM. SAM was introduced to recommend preferable levels of ACO parameters via statistically significant regression analysis and Taguchi's signal to noise ratio. Other performance achievements include minimax and mean squared error measures. A series of computational experiments using each algorithm were conducted. Experimental results were analysed in terms of mean, design points and best so far solutions. It was found that results obtained from a hybridisation with stochastic procedures of Simulated Annealing method were better than that using Modified Simplex algorithm. However, the average execution time of experimental runs and number of design points using hybridisations were longer than those using a single method when compared. Finally they stated a recommendation of proper level settings of ACO parameters for all eight functions that can be used as a guideline for future applications of ACO. This is to promote ease of use of ACO in real life problems.
A Flexible Reservation Algorithm for Advance Network Provisioning
Balman, Mehmet; Chaniotakis, Evangelos; Shoshani, Arie; Sim, Alex
2010-04-12
Many scientific applications need support from a communication infrastructure that provides predictable performance, which requires effective algorithms for bandwidth reservations. Network reservation systems such as ESnet's OSCARS, establish guaranteed bandwidth of secure virtual circuits for a certain bandwidth and length of time. However, users currently cannot inquire about bandwidth availability, nor have alternative suggestions when reservation requests fail. In general, the number of reservation options is exponential with the number of nodes n, and current reservation commitments. We present a novel approach for path finding in time-dependent networks taking advantage of user-provided parameters of total volume and time constraints, which produces options for earliest completion and shortest duration. The theoretical complexity is only O(n2r2) in the worst-case, where r is the number of reservations in the desired time interval. We have implemented our algorithm and developed efficient methodologies for incorporation into network reservation frameworks. Performance measurements confirm the theoretical predictions.
Dwarf novae in the shortest orbital period regime .
NASA Astrophysics Data System (ADS)
Uemura, M.; Kato, T.; Ohshima, T.; Nogami, D.; Maehara, H.
Dwarf novae (DNe) having very short orbital periods (P_orb) are interesting objects in terms of two points of view: the binary evolution and the physics of accretion disks. They are considered as one of the final evolutionary stages of low-mass binaries. It is well known that the observed P_orb distribution of cataclysmic variables is inconsistent with that expected from population synthesis studies. We evaluate the intrinsic population of low activity DNe in the shortest P_orb regime, which could reconcile the discrepancy between the observation and theory. In the view point of the physics of accretion disks, short P_orb DNe, in particular, WZ Sge stars, have received attention because they exhibit unique variations, like early superhumps. We have recently developed a method to reconstruct the structure of disks using multi-band light curves of early superhumps. Here, we introduce the results of this method using the data of the dwarf nova, V455 And.
Sampling diffusive transition paths
F. Miller III, Thomas; Predescu, Cristian
2006-10-12
We address the problem of sampling double-ended diffusive paths. The ensemble of paths is expressed using a symmetric version of the Onsager-Machlup formula, which only requires evaluation of the force field and which, upon direct time discretization, gives rise to a symmetric integrator that is accurate to second order. Efficiently sampling this ensemble requires avoiding the well-known stiffness problem associated with sampling infinitesimal Brownian increments of the path, as well as a different type of stiffness associated with sampling the coarse features of long paths. The fine-features sampling stiffness is eliminated with the use of the fast sampling algorithm (FSA), and the coarse-feature sampling stiffness is avoided by introducing the sliding and sampling (S&S) algorithm. A key feature of the S&S algorithm is that it enables massively parallel computers to sample diffusive trajectories that are long in time. We use the algorithm to sample the transition path ensemble for the structural interconversion of the 38-atom Lennard-Jones cluster at low temperature.
Advisory Algorithm for Scheduling Open Sectors, Operating Positions, and Workstations
NASA Technical Reports Server (NTRS)
Bloem, Michael; Drew, Michael; Lai, Chok Fung; Bilimoria, Karl D.
2012-01-01
Air traffic controller supervisors configure available sector, operating position, and work-station resources to safely and efficiently control air traffic in a region of airspace. In this paper, an algorithm for assisting supervisors with this task is described and demonstrated on two sample problem instances. The algorithm produces configuration schedule advisories that minimize a cost. The cost is a weighted sum of two competing costs: one penalizing mismatches between configurations and predicted air traffic demand and another penalizing the effort associated with changing configurations. The problem considered by the algorithm is a shortest path problem that is solved with a dynamic programming value iteration algorithm. The cost function contains numerous parameters. Default values for most of these are suggested based on descriptions of air traffic control procedures and subject-matter expert feedback. The parameter determining the relative importance of the two competing costs is tuned by comparing historical configurations with corresponding algorithm advisories. Two sample problem instances for which appropriate configuration advisories are obvious were designed to illustrate characteristics of the algorithm. Results demonstrate how the algorithm suggests advisories that appropriately utilize changes in airspace configurations and changes in the number of operating positions allocated to each open sector. The results also demonstrate how the advisories suggest appropriate times for configuration changes.
Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters
Jan, Shau Shiun; Lin, Yu Hsiang
2011-01-01
This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029
Scaling up multiphoton neural scanning: the SSA algorithm.
Schuck, Renaud; Annecchino, Luca A; Schultz, Simon R
2014-01-01
In order to reverse-engineer the information processing capabilities of the cortical circuit, we need to densely sample neural circuit; it may be necessary to sample the activity of thousands of neurons simultaneously. Frame scanning techniques do not scale well in this regard, due to the time "wasted" scanning extracellular space. For scanners in which inertia can be neglected, path length minimization strategies enable large populations to be imaged at relatively high sampling rates. However, in a standard multiphoton microscope, the scanners responsible for beam deflection are inertial, indicating that an optimal solution should take rotor and mirror momentum into account. We therefore characterized the galvanometric scanners of a commercial multiphoton microscope, in order to develop and validate a MATLAB model of microscope scanning dynamics. We tested the model by simulating scan paths across pseudo-randomly positioned neuronal populations of differing neuronal density and field of view. This model motivated the development of a novel scanning algorithm, Adaptive Spiral Scanning (SSA), in which the radius of a circular trajectory is constantly updated such that it follows a spiral trajectory scanning all the cells. Due to the kinematic efficiency of near-circular trajectories, this algorithm achieves higher sampling rates than shortest path approaches, while retaining a relatively efficient coverage fraction in comparison to raster or resonance based frame-scanning approaches. PMID:25570582
Snell, Mark K.
2007-07-14
The PANL software determines path through an Adversary Sequence Diagram (ASD) with minimum Probability of Interruption, P(I), given the ASD information and data about site detection, delay, and response force times. To accomplish this, the software generates each path through the ASD, then applies the Estimate of Adversary Sequence Interruption (EASI) methodology for calculating P(I) to each path, and keeps track of the path with the lowest P(I). Primary use is for training purposes during courses on physical security design. During such courses PANL will be used to demonstrate to students how more complex software codes are used by the US Department of Energy to determine the most-vulnerable paths and, where security needs improvement, how such codes can help determine physical security upgrades.
Energy Science and Technology Software Center (ESTSC)
2007-07-14
The PANL software determines path through an Adversary Sequence Diagram (ASD) with minimum Probability of Interruption, P(I), given the ASD information and data about site detection, delay, and response force times. To accomplish this, the software generates each path through the ASD, then applies the Estimate of Adversary Sequence Interruption (EASI) methodology for calculating P(I) to each path, and keeps track of the path with the lowest P(I). Primary use is for training purposes duringmore » courses on physical security design. During such courses PANL will be used to demonstrate to students how more complex software codes are used by the US Department of Energy to determine the most-vulnerable paths and, where security needs improvement, how such codes can help determine physical security upgrades.« less
Blind Alley Aware ACO Routing Algorithm
NASA Astrophysics Data System (ADS)
Yoshikawa, Masaya; Otani, Kazuo
2010-10-01
The routing problem is applied to various engineering fields. Many researchers study this problem. In this paper, we propose a new routing algorithm which is based on Ant Colony Optimization. The proposed algorithm introduces the tabu search mechanism to escape the blind alley. Thus, the proposed algorithm enables to find the shortest route, even if the map data contains the blind alley. Experiments using map data prove the effectiveness in comparison with Dijkstra algorithm which is the most popular conventional routing algorithm.
Open-path Fourier transform infrared (OP/FTIR) spectrometry was used to measure the concentrations of ammonia, methane, and other atmospheric gases at an integrated swine production facility. The concentration-pathlength products of the target gases at this site often exceeded th...
NASA Technical Reports Server (NTRS)
Ng, Hok K.; Grabbe, Shon; Mukherjee, Avijit
2010-01-01
The optimization of traffic flows in congested airspace with varying convective weather is a challenging problem. One approach is to generate shortest routes between origins and destinations while meeting airspace capacity constraint in the presence of uncertainties, such as weather and airspace demand. This study focuses on development of an optimal flight path search algorithm that optimizes national airspace system throughput and efficiency in the presence of uncertainties. The algorithm is based on dynamic programming and utilizes the predicted probability that an aircraft will deviate around convective weather. It is shown that the running time of the algorithm increases linearly with the total number of links between all stages. The optimal routes minimize a combination of fuel cost and expected cost of route deviation due to convective weather. They are considered as alternatives to the set of coded departure routes which are predefined by FAA to reroute pre-departure flights around weather or air traffic constraints. A formula, which calculates predicted probability of deviation from a given flight path, is also derived. The predicted probability of deviation is calculated for all path candidates. Routes with the best probability are selected as optimal. The predicted probability of deviation serves as a computable measure of reliability in pre-departure rerouting. The algorithm can also be extended to automatically adjust its design parameters to satisfy the desired level of reliability.
Trees, paths and avalanches on random networks
NASA Astrophysics Data System (ADS)
Dobrin, Radu
The investigation of equilibrium and non-equilibrium processes in disordered systems and particularly the relation between them is a complex problem that deserves attention. We concentrate on analyzing several relations of this type and appropriate numerical solutions. Invasion percolation (IP) model was motivated by the problem of fluid displacement in disordered media but in principle it could be applied to any invasion process which evolves along the minimum resistance path. Finding the invasion paths is a global optimization problem where the front advances by occupying the least resistant bond. Once the invasion is finished, the union of all the invasion paths on the lattice forms a minimum energy spanning tree (MST). We show that the geometry of a MST on random graphs is universal. Due to this geometric universality, we are able to characterize the energy of this optimal tree for any type of disorder using a scaling distribution found using uniform disorder. Therefore we expect the hopping transport in random media to have universal behavior. Kinetic interfaces is an important branch of statistical mechanics, fueled by application such as fluid-fluid displacement, imbibition in porous media, flame fronts, tumors, etc. These processes can be unified via Kardar-Parisi-Zhang (KPZ) equation, which is mapped exactly to an equilibrium problem (DPRM). We are able to characterize both using Dijkstra's algorithm, which is known to generate shortest path tree in a random network. We found that while obtaining the polymers the algorithm develops a KPZ type interface. We have extracted the interface exponents for both 2d square lattice and 3 d cubic lattice, being in agreement with previously recorded results for KPZ. The IP and KPZ classes are known to be very different: while the first one generates a distinct self-similar (fractal) interface, the second one has a self-similar invasion front. Though they are different we are able to construct a generalized algorithm that interpolates between these two universality classes. We discuss the relationship with the IP, the directed polymer in a random media; and the implications for the broader issue of universality in disordered systems. Random Field Ising Model (RFIM) is one of the most important models of phase transitions in disordered systems. We present exact results for the critical behavior of the RFIM on complete graphs and trees, both at equilibrium and away from equilibrium, i.e., models for hysteresis and Barkhausen noise. We show that for stretched exponential and powerlaw distributions of random fields the behavior on complete graphs is non-universal, while the behavior on Cayley trees is universal even in the limit of large coordination. Until recently, the evolution of WWW, Internet, etc., was thought to be highly complex. The model proposed by Barabasi and Albert shows that such networks can be modeled with the help of "preferential attachment", i.e. a highly connected vertex has a higher chance to get further links compared with a weakly connected vertex. We find that the random network constructed from a self-organized critical mechanism, (IP), falls in the same class without imposing any "preferential" growth rule. The network obtained has a connectivity exponent gamma ≊ 2.45, close to the WWW outgoing-links exponent.
NASA Technical Reports Server (NTRS)
Janich, Karl W.
2005-01-01
The At-Least version of the Generalized Minimum Spanning Tree Problem (L-GMST) is a problem in which the optimal solution connects all defined clusters of nodes in a given network at a minimum cost. The L-GMST is NPHard; therefore, metaheuristic algorithms have been used to find reasonable solutions to the problem as opposed to computationally feasible exact algorithms, which many believe do not exist for such a problem. One such metaheuristic uses a swarm-intelligent Ant Colony System (ACS) algorithm, in which agents converge on a solution through the weighing of local heuristics, such as the shortest available path and the number of agents that recently used a given path. However, in a network using a solution derived from the ACS algorithm, some nodes may move around to different clusters and cause small changes in the network makeup. Rerunning the algorithm from the start would be somewhat inefficient due to the significance of the changes, so a genetic algorithm based on the top few solutions found in the ACS algorithm is proposed to quickly and efficiently adapt the network to these small changes.
NASA Technical Reports Server (NTRS)
Campbell, R. H.; Kolstad, R. B.; Holle, D. F.; Miller, T. J.; Krause, P.; Horton, K.; Macke, T.
1983-01-01
Path Pascal is high-level experimental programming language based on PASCAL, which incorporates extensions for systems and real-time programming. Pascal is extended to treat real-time concurrent systems.
Pedestrian traffic: on the quickest path
NASA Astrophysics Data System (ADS)
Kretz, Tobias
2009-03-01
When a large group of pedestrians moves around a corner, most pedestrians do not follow the shortest path, which is to stay as close as possible to the inner wall, but try to minimize the travel time. For this they accept to move on a longer path with some distance to the corner, to avoid large densities and by this succeed in maintaining a comparatively high speed. In many models of pedestrian dynamics the basic rule of motion is often either 'move as far as possible toward the destination' or—reformulated—'of all coordinates accessible in this time step move to the one with the smallest distance to the destination'. On top of this rule modifications are placed to make the motion more realistic. These modifications usually focus on local behavior and neglect long-ranged effects. Compared to real pedestrians this leads to agents in a simulation valuing the shortest path a lot better than the quickest. So, in a situation such as the movement of a large crowd around a corner, one needs an additional element in a model of pedestrian dynamics that makes the agents deviate from the rule of the shortest path. In this work it is shown how this can be achieved by using a flood fill dynamic potential field method, where during the filling process the value of a field cell is not increased by 1, but by a larger value, if it is occupied by an agent. This idea may be an obvious one: however, the tricky part—and therefore in a strict sense the contribution of this work—is (a) to minimize unrealistic artifacts, as naive flood fill metrics deviate considerably from the Euclidean metric and in this respect yield large errors, (b) do this with limited computational effort and (c) keep agents' movement at very low densities unaltered.
Performance Analysis of Path Planning Modeling
NASA Astrophysics Data System (ADS)
Wang, Zhirui; Li, Shuanghong; Zhang, Ying; Du, Qiaoling
Ant colony system (ACS) algorithm was applied to the path planning for the robot. In the same working environment, path planning based on MAKLINK graph theory and Voronoi diagram were simulated and compared. MAKLINK graph theory is appropriate to apply to precise searching in small-scale district, and Voronoi diagram is suitable for fast path planning in a large area.
NASA Astrophysics Data System (ADS)
Sahin, Gökhan; Azizoglu, Murat
2002-02-01
We consider off-line capacity assignment in wavelength-routed ring networks with path restoration under arbitrary traffic patterns. We present service and restoration wavelength-assignment (WA) algorithms under shortest-path routing and analyze their performance in terms of the wavelength requirement. We obtain bounds to the wavelength requirement, using a routing-independent traffic parameter, and we show that both the service wavelength requirement and the total wavelength requirement under these algorithms lie within a factor of 2 of the optimal that can be achieved by any routing and WA algorithm. These results are among the few analytical results regarding the wavelength requirement in rings without wavelength conversion. We also propose vertex-coloring-based WA algorithms and demonstrate their efficiency through performance bounds and simulations. Results also show that knowledge of which link failed provides little capacity savings, and hence our algorithm with failure-independent restoration WA offers an attractive solution to reduce the fault-monitoring costs and the restoration signaling complexity.
Watanabe, Shin; Tero, Atsushi; Takamatsu, Atsuko; Nakagaki, Toshiyuki
2011-09-01
Traffic optimization of railroad networks was considered using an algorithm that was biologically inspired by an amoeba-like organism, plasmodium of the true slime mold, Physarum polycephalum. The organism developed a transportation network consisting of a tubular structure to transport protoplasm. It was reported that plasmodium can find the shortest path interconnecting multiple food sites during an adaptation process (Nakagaki et al., 2001. Biophys. Chem. 92, 47-52). By mimicking the adaptation process a path finding algorithm was developed by Tero et al. (2007). In this paper, the algorithm is newly modified for applications of traffic distribution optimization in transportation networks of infrastructure such as railroads under the constraint that the network topology is given. Application of the algorithm to a railroad in metropolitan Tokyo, Japan is demonstrated. The results are evaluated using three performance functions related to cost, traveling efficiency, and network weakness. The traffic distribution suggests that the modified Physarum algorithm balances the performances under a certain parameter range, indicating a biological process. PMID:21620930
Route choices of transport bicyclists: a comparison of actually used and shortest routes
2014-01-01
Background Despite evidence that environmental features are related to physical activity, the association between the built environment and bicycling for transportation remains a poorly investigated subject. The aim of the study was to improve our understanding of the environmental determinants of bicycling as a means of transportation in urban European settings by comparing the spatial differences between the routes actually used by bicyclists and the shortest possible routes. Methods In the present study we examined differences in the currently used and the shortest possible bicycling routes, with respect to distance, type of street, and environmental characteristics, in the city of Graz, Austria. The objective measurement methods of a Global Positioning System (GPS) and a Geographic Information System (GIS) were used. Results Bicycling routes actually used were significantly longer than the shortest possible routes. Furthermore, the following attributes were also significantly different between the used route compared to the shortest possible route: Bicyclists often used bicycle lanes and pathways, flat and green areas, and they rarely used main roads and crossings. Conclusion The results of the study support our hypothesis that bicyclists prefer bicycle pathways and lanes instead of the shortest possible routes. This underlines the importance of a well-developed bicycling infrastructure in urban communities. PMID:24597725
Tracing path-guided apparent motion in human primary visual cortex V1.
Akselrod, Michel; Herzog, Michael H; Öğmen, Haluk
2014-01-01
Vision is a constructive process. For example, a square, flashed at two distinct locations one after the other, appears to move smoothly between the two locations rather than as two separate flashes (apparent motion). Apparent motion is usually perceived along the shortest path between locations. Previous studies have shown that retinotopic activity in V1 correlates well with the subjective filling-in in apparent motion. If V1 activity truly reflects illusory motion, it should flexibly reflect filling-in of any path, subjectively perceived. Here, we used a path-guided apparent motion paradigm in which a faint cue, presented in addition to the squares, leads to a curved illusory motion path. We found retinotopic activity in V1 to reflect the illusory filling-in of the curved path, similarly to filling-in with linear, shortest paths. Moreover, our results show that activity along the linear path was less selective to stimulus conditions than the activity along the curved path. This finding may be interpreted as V1 activity representing a small subset of infinitely many possible solutions to ambiguous stimuli, whilst giving more weight to the shortest path/energy solution. PMID:25317907
NASA Astrophysics Data System (ADS)
Harrison, F. W.; Lin, B.; Ismail, S.; Nehrir, A. R.; Dobler, J. T.; Browell, E. V.; Kooi, S. A.; Campbell, J. F.; Obland, M. D.; Yang, M. M.; Meadows, B.
2014-12-01
This paper presents an overview of the methods for the retrieval of carbon dioxide (CO2) and oxygen (O2) column amounts and their associated path lengths measured by the Multi-Functional Fiber Laser Lidar (MFLL) and the ASCENDS CarbonHawk Experiment Simulator (ACES). MFLL and ACES are multi-frequency, Intensity-Modulated, Continuous-Wave (IM-CW) Lidar systems developed as proof-of-concept demonstrators for NASA's Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) mission. The National Research Council identified ASCENDS in 2007 as an important mid-term decadal survey mission to provide measurements critical to improved projections of the Earth's future climate. The ASCENDS measurement requirements have evolved significantly since first proposed by the NRC as has our understanding of the IM-CW measurement technique we propose for use by ASCENDS. To meet these requirements, both MFLL and ACES transmit wavelengths near 1.57 and 1.26 μm modulated with range-encoded signals to minimize bias from thin clouds in the CO2 and O2 column measurements while simultaneously measuring the path length to the surface and to intervening cloud layers. In preparation for the ASCENDS mission, the MFLL has been deployed on 13 airborne field campaigns since 2005, including the latest series of flights in August 2014. NASA also flew the ACES instrument as a technology demonstrator in 2014. In this paper we describe the current ASCENDS retrieval technique and present the accuracy and precision of the measurements obtained using this technique. We also present a reanalysis of the 2011 MFLL measurements and compare the results previously reported to the reanalysis. Reanalysis yields range precisions of less that one meter from an altitude of 12 kilometers from the CO2 offline channel with 1.6 watts of transmitted power.
Transmembrane Helix Assembly by Max-Min Ant System Algorithm.
Sujaree, Kanon; Kitjaruwankul, Sunan; Boonamnaj, Panisak; Supunyabut, Chirayut; Sompornpisut, Pornthep
2015-12-01
Because of the rapid progress in biochemical and structural studies of membrane proteins, considerable attention has been given on developing efficient computational methods for solving low-to-medium resolution structures using sparse structural data. In this study, we demonstrate a novel algorithm, max-min ant system (MMAS), designed to find an assembly of α-helical transmembrane proteins using a rigid helix arrangement guided by distance constraints. The new algorithm generates a large variety with finite number of orientations of transmembrane helix bundle and finds the solution that is matched with the provided distance constraints based on the behavior of ants to search for the shortest possible path between their nest and the food source. To demonstrate the efficiency of the novel search algorithm, MMAS is applied to determine the transmembrane packing of KcsA and MscL ion channels from a limited distance information extracted from the crystal structures, and the packing of KvAP voltage sensor domain using a set of 10 experimentally determined constraints, and the results are compared with those of two popular used stochastic methods, simulated annealing Monte Carlo method and genetic algorithm. PMID:26058409
Kennington, J.L.; Helgason, R.V.
1990-10-01
One of the most important computer architecture innovations to appear in the market place during the last ten years is parallel processing on a shared memory multicomputer. This report presents new algorithms for a variety of network models along with empirical analysis on both sequential and parallel computers. An empirical study on the AT and T KORBX system is also presented. This system uses eight processors each of which has vector capability. Our research program objective is to develop and empirically test new parallel algorithms and software for a wide variety of optimization problems. The problems studied this past year include the shortest path problem, the assignment problem, the semi-assignment problem, the transportation problem, and the generalized network problem. Algorithms for all of these models have been developed and empirically tested on a variety of computers. In addition, we worked with the Military Airlift Command to test the ATT KORBX system located at Scott Air Force Base.
Path optimization with limited sensing ability
Kang, Sung Ha Kim, Seong Jun Zhou, Haomin
2015-10-15
We propose a computational strategy to find the optimal path for a mobile sensor with limited coverage to traverse a cluttered region. The goal is to find one of the shortest feasible paths to achieve the complete scan of the environment. We pose the problem in the level set framework, and first consider a related question of placing multiple stationary sensors to obtain the full surveillance of the environment. By connecting the stationary locations using the nearest neighbor strategy, we form the initial guess for the path planning problem of the mobile sensor. Then the path is optimized by reducing its length, via solving a system of ordinary differential equations (ODEs), while maintaining the complete scan of the environment. Furthermore, we use intermittent diffusion, which converts the ODEs into stochastic differential equations (SDEs), to find an optimal path whose length is globally minimal. To improve the computation efficiency, we introduce two techniques, one to remove redundant connecting points to reduce the dimension of the system, and the other to deal with the entangled path so the solution can escape the local traps. Numerical examples are shown to illustrate the effectiveness of the proposed method.
Path optimization with limited sensing ability
NASA Astrophysics Data System (ADS)
Kang, Sung Ha; Kim, Seong Jun; Zhou, Haomin
2015-10-01
We propose a computational strategy to find the optimal path for a mobile sensor with limited coverage to traverse a cluttered region. The goal is to find one of the shortest feasible paths to achieve the complete scan of the environment. We pose the problem in the level set framework, and first consider a related question of placing multiple stationary sensors to obtain the full surveillance of the environment. By connecting the stationary locations using the nearest neighbor strategy, we form the initial guess for the path planning problem of the mobile sensor. Then the path is optimized by reducing its length, via solving a system of ordinary differential equations (ODEs), while maintaining the complete scan of the environment. Furthermore, we use intermittent diffusion, which converts the ODEs into stochastic differential equations (SDEs), to find an optimal path whose length is globally minimal. To improve the computation efficiency, we introduce two techniques, one to remove redundant connecting points to reduce the dimension of the system, and the other to deal with the entangled path so the solution can escape the local traps. Numerical examples are shown to illustrate the effectiveness of the proposed method.
Robot path planning with distance-safety criterion
NASA Technical Reports Server (NTRS)
Suh, Suk-Hwan; Shin, Kang G.
1987-01-01
A method for determining an optimal path with a weighted distance-safety criterion is developed. The goal is to strike a compromise between the shortest path and the centerline path, which is safer. The method is composed of three parts: (i) construction of a region map by dividing the workspace, (ii) interregion optimization to determine the entry and departure points of the path in each region, and (iii) intraregion optimization for determining the (optimal) path segment within each region. The region map is generated by using an approximate Voronoi diagram, and region optimization is achieved using variational dynamic programming. Although developed for 2-D problems, the method can be easily extended to a class of 3-D problems. Numerical examples are presented to demonstrate the method.
A novel algorithm for OSPF link flap damping
NASA Astrophysics Data System (ADS)
Yang, Yang; Liu, Guangyi; Lin, Xiaokang
2005-02-01
Open shortest path first (OSPF) is the most widely used routing protocol in today"s IP networks, and its excellent performance has been proved in wired environments. However, when it is executed under bad channel conditions such as in wireless networks or areas with severe signal interference, links may flap frequently and some terrible problems will appear. This paper proposes a novel algorithm called OSPF link flap damping algorithm (OLFDA). The objective of OLFDA is to reduce the events of link state advertisement (LSA) update and damp the link flap with the precondition that the overall network performance is satisfying. To accomplish this, we can define criteria to identify and dynamically suppress the poorly behaved links. Information of the suppressed links won"t be advertised in OSPF domain and used in calculation of the routing tables. In addition, we can control the maximal number of links suppressed simultaneously by a router to ensure the network connectivity. OLFDA are simulated in many scenarios, and the results indicate that the algorithm has an excellent performance.
Going against the flow: finding the optimal path
NASA Astrophysics Data System (ADS)
Talbot, Julian
2010-01-01
We consider the problem of finding the optimum path of a boat traversing a straight in a current. The path of the shortest time is found using the calculus of variations with the constraint that the boat must land directly opposite to its starting point. We compare the optimal trajectory with that where the boat's local orientation is always directed to the arrival point. When analytical solutions cannot be found we use numerical methods. The level of the exposition is suitable for advanced undergraduate students, graduate students and general physicists.
Minimum-Risk Path Finding by an Adaptive Amoebal Network
NASA Astrophysics Data System (ADS)
Nakagaki, Toshiyuki; Iima, Makoto; Ueda, Tetsuo; Nishiura, Yasumasa; Saigusa, Tetsu; Tero, Atsushi; Kobayashi, Ryo; Showalter, Kenneth
2007-08-01
When two food sources are presented to the slime mold Physarum in the dark, a thick tube for absorbing nutrients is formed that connects the food sources through the shortest route. When the light-avoiding organism is partially illuminated, however, the tube connecting the food sources follows a different route. Defining risk as the experimentally measurable rate of light-avoiding movement, the minimum-risk path is exhibited by the organism, determined by integrating along the path. A model for an adaptive-tube network is presented that is in good agreement with the experimental observations.
NASA Astrophysics Data System (ADS)
Nakamura, T.; Sekimoto, Y.; Usui, T.; Shibasaki, R.
2012-07-01
Nowadays, for the estimation of traffic demand or people flow, modelling route choice activity in road networks is an important task and many algorithms have been developed to generate route choice sets. However, developing an algorithm based on a small amount of data that can be applied generally within a metropolitan area is difficult. This is because the characteristics of road networks vary widely. On the other hand, recently, the collection of people movement data has lately become much easier, especially through mobile phones. Lately, most mobile phones include GPS functionality. Given this background, we propose a data-oriented algorithm to generate route choice sets using mobile phone GPS data. GPS data contain a number of measurement errors; hence, they must be adjusted to account for these errors before use in advanced people movement analysis. However, this is time-consuming and expensive, because an enormous amount of daily data can be obtained. Hence, the objective of this study is to develop an algorithm that can easily manage GPS data. Specifically, at first movement data from all GPS data are selected by calculating the speed. Next, the nearest roads in the road network are selected from the GPS location and count such data for each road. Then An algorithm based on the GSP (Gateway Shortest Path) algorithm is proposed, which searches the shortest path through a given gateway. In the proposed algorithm, the road for which the utilization volume calculated by GPS data is large is selected as the gateway. Thus, route choice sets that are based on trends in real GPS data are generated. To evaluate the proposed method, GPS data from 0.7 million people a year in Japan and DRM (Digital Road Map) as the road network are used. DRM is one of the most detailed road networks in Japan. Route choice sets using the proposed algorithm are generated and the cover rate of the utilization volume of each road under evaluation is calculated. As a result, the proposed route generation algorithm and GPS data cleaning process work well and a huge variety of routes that have high potential to be used in the real world can be generated.
NASA Astrophysics Data System (ADS)
Pan, Zhong-Liang; Chen, Ling; Zhang, Guang-Zhao
2016-04-01
The hybrid CMOS molecular (CMOL) circuit, which combines complementary metal-oxide-semiconductor (CMOS) components with nanoscale wires and switches, can exhibit significantly improved performance. In CMOL circuits, the nanodevices, which are called cells, should be placed appropriately and are connected by nanowires. The cells should be connected such that they follow the shortest path. This paper presents an efficient method of cell allocation in CMOL circuits with the hybrid CMOS/nanodevice structure; the method is based on a cultural algorithm with chaotic behavior. The optimal model of cell allocation is derived, and the coding of an individual representing a cell allocation is described. Then the cultural algorithm with chaotic behavior is designed to solve the optimal model. The cultural algorithm consists of a population space, a belief space, and a protocol that describes how knowledge is exchanged between the population and belief spaces. In this paper, the evolutionary processes of the population space employ a genetic algorithm in which three populations undergo parallel evolution. The evolutionary processes of the belief space use a chaotic ant colony algorithm. Extensive experiments on cell allocation in benchmark circuits showed that a low area usage can be obtained using the proposed method, and the computation time can be reduced greatly compared to that of a conventional genetic algorithm.
A Comparison of Two Path Planners for Planetary Rovers
NASA Technical Reports Server (NTRS)
Tarokh, M.; Shiller, Z.; Hayati, S.
1999-01-01
The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared
Calix[4]pyrroles with Shortest Possible Strap: Exclusively Selective toward Fluoride Ion.
Samanta, Ritwik; Kumar, B Sathish; Panda, Pradeepta K
2015-09-01
Four new calix[4]pyrroles with the shortest possible strap so far through ortho-linking of the aromatic unit have been synthesized, including a naphthalene-derived fluorescent receptor. They show exclusive selectivity toward the fluoride ion as confirmed by (1)H NMR, isothermal titration calorimetry, and fluorescence spectroscopic study. Anion affinity could also be modulated further via functionalization at the strap. Computational analysis displays calix[4]pyrroles binding to fluoride ion in a very unusual 1,3-alternate conformation where the anion resides on the opposite side of the strap. PMID:26313641
Adiabaticity criterion and the shortest adiabatic mode transformer in a coupled-waveguide system.
Sun, Xiankai; Liu, Hsi-Chun; Yariv, Amnon
2009-02-01
By analyzing the propagating behavior of the supermodes in a coupled-waveguide system, we have derived a universal criterion for designing adiabatic mode transformers. The criterion relates epsilon, the fraction of power scattered into the unwanted mode, to waveguide design parameters and gives the shortest possible length of an adiabatic mode transformer, which is approximately 2/piepsilon1/2 times the distance of maximal power transfer between the waveguides. The results from numerical calculations based on a transfer-matrix formalism support this theory very well. PMID:19183631
Planning Flight Paths of Autonomous Aerobots
NASA Technical Reports Server (NTRS)
Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli
2009-01-01
Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.
Efficient algorithms for wildland fire simulation
NASA Astrophysics Data System (ADS)
Kondratenko, Volodymyr Y.
In this dissertation, we develop the multiple-source shortest path algorithms and examine their application importance in real world problems, such as wildfire modeling. The theoretical basis and its implementation in the Weather Research Forecasting (WRF) model coupled with the fire spread code SFIRE (WRF-SFIRE model) are described. We present a data assimilation method that gives the fire spread model the ability to start the fire simulation from an observed fire perimeter instead of an ignition point. While the model is running, the fire state in the model changes in accordance with the new arriving data by data assimilation. As the fire state changes, the atmospheric state (which is strongly effected by heat flux) does not stay consistent with the fire state. The main difficulty of this methodology occurs in coupled fire-atmosphere models, because once the fire state is modified to match a given starting perimeter, the atmospheric circulation is no longer in sync with it. One of the possible solutions to this problem is a formation of the artificial time of ignition history from an earlier fire state, which is later used to replay the fire progression to the new perimeter with the proper heat fluxes fed into the atmosphere, so that the fire induced circulation is established. In this work, we develop efficient algorithms that start from the fire arrival times given at the set of points (called a perimeter) and create the artificial fire time of ignition and fire spread rate history. Different algorithms were developed in order to suit possible demands of the user, such as implementation in parallel programming, minimization of the required amount of iterations and memory use, and use of the rate of spread as a time dependent variable. For the algorithms that deal with the homogeneous rate of spread, it was proven that the values of fire arrival times they produce are optimal. It was also shown that starting from arbitrary initial state the algorithms have finite convergence and the amount of iterations was estimated. Application of the method on real tests, based on the data taken from the observed fires, has shown the high accuracy of the algorithm and its usefulness. Besides wildfire modeling, this technique has a high application value in different fields, such as epidemiology, demographics control, flood modeling, etc.
Constrained motion control on a hemispherical surface: path planning.
Berman, Sigal; Liebermann, Dario G; McIntyre, Joseph
2014-03-01
Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path (the shortest path between 2 points on a sphere) is advantageous not only in terms of path length but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from 11 healthy subjects. The task comprised point-to-point motion between targets at two elevations (30° and 60°). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements compared with the others. The "better" performance reflects the dynamical advantages of following the geodesic path and may also reflect invariant features of control policies used to produce such a surface-constrained motion. PMID:24259548
A Comparison of Three Algorithms for Approximating the Distance Distribution in Real-World Graphs
NASA Astrophysics Data System (ADS)
Crescenzi, Pierluigi; Grossi, Roberto; Lanzi, Leonardo; Marino, Andrea
The distance for a pair of vertices in a graph G is the length of the shortest path between them. The distance distribution for G specifies how many vertex pairs are at distance h, for all feasible values h. We study three fast randomized algorithms to approximate the distance distribution in large graphs. The Eppstein-Wang (ew) algorithm exploits sampling through a limited (logarithmic) number of Breadth-First Searches (bfses). The Size-Estimation Framework (sef) by Cohen employs random ranking and least-element lists to provide several estimators. Finally, the Approximate Neighborhood Function (anf) algorithm by Palmer, Gibbons, and Faloutsos makes use of the probabilistic counting technique introduced by Flajolet and Martin, in order to estimate the number of distinct elements in a large multiset. We investigate how good is the approximation of the distance distribution, when the three algorithms are run in similar settings. The analysis of anf derives from the results on the probabilistic counting method, while the one of sef is given by Cohen. For what concerns ew (originally designed for another problem), we extend its simple analysis in order to bound its error with high probability and to show its convergence. We then perform an experimental study on 30 real-world graphs, showing that our implementation of ew combines the accuracy of sef with the performance of anf.
Mining Preferred Traversal Paths with HITS
NASA Astrophysics Data System (ADS)
Yeh, Jieh-Shan; Lin, Ying-Lin; Chen, Yu-Cheng
Web usage mining can discover useful information hidden in web logs data. However, many previous algorithms do not consider the structure of web pages, but regard all web pages with the same importance. This paper utilizes HITS values and PNT preferences as measures to mine users' preferred traversal paths. Wë structure mining uses HITS (hypertext induced topic selection) to rank web pages. PNT (preferred navigation tree) is an algorithm that finds users' preferred navigation paths. This paper introduces the Preferred Navigation Tree with HITS (PNTH) algorithm, which is an extension of PNT. This algorithm uses the concept of PNT and takes into account the relationships among web pages using HITS algorithm. This algorithm is suitable for E-commerce applications such as improving web site design and web server performance.
A generalized gradient algorithm for dynamic optimization
NASA Technical Reports Server (NTRS)
Zhao, Yiyuan; Bryson, A. E.; Slattery, R.
1989-01-01
A gradient algorithm is developed that determines optimal trajectories with path equality constraints and terminal constraints. A generalized gradient is formed which improves both the performance index and the path equality constraints simultaneously. The algorithm is extended to treat terminal constraints by using Bryson's impulse response technique. The main features of this algorithm are its numerical stability and smooth convergence near the optimum.
Cooperative organic mine avoidance path planning
NASA Astrophysics Data System (ADS)
McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David
2005-06-01
The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.
Adaptable Path Planning in Regionalized Environments
NASA Astrophysics Data System (ADS)
Richter, Kai-Florian
Human path planning relies on several more aspects than only geometric distance between two locations. These additional aspects mostly relate to the complexity of the traveled path. Accordingly, in recent years several cognitively motivated path search algorithms have been developed that try to minimize wayfinding complexity. However, the calculated paths may result in large detours as geometric properties of the network wayfinding occurs in are ignored. Simply adding distance as an additional factor to the cost function is a possible, but insufficient way of dealing with this problem. Instead, taking a global view on an environment by accounting for the heterogeneity of its structure allows for adapting the path search strategy. This heterogeneity can be used to regionalize the environment; each emerging region may require a different strategy for path planning. This paper presents such an approach to regionalized path planning. It argues for the advantages of the chosen approach, develops a measure for calculating wayfinding complexity that accounts for structural and functional aspects of wayfinding, and states a generic algorithm for regionalization. Finally, regionalized path planning is demonstrated in a sample scenario.
AN EFFICIENT ALGORITHM FOR CHINESE POSTMAN WALK ON BI-DIRECTED DE BRUIJN GRAPHS
KUNDETI, VAMSI; RAJASEKARAN, SANGUTHEVAR; DINH, HEIU
2014-01-01
Sequence assembly from short reads is an important problem in biology. It is known that solving the sequence assembly problem exactly on a bi-directed de Bruijn graph or a string graph is intractable. However, finding a shortest double stranded DNA string (SDDNA) containing all the k-long words in the reads seems to be a good heuristic to get close to the original genome. This problem is equivalent to finding a cyclic Chinese Postman (CP) walk on the underlying unweighted bi-directed de Bruijn graph built from the reads. The Chinese Postman walk Problem (CPP) is solved by reducing it to a general bi-directed flow on this graph which runs in O(|E|2 log2(|V|)) time. In this paper we show that the cyclic CPP on bi-directed graphs can be solved without reducing it to bi-directed flow. We present a Θ(p(|V| + |E|) log(|V|) + (dmaxp)3) time algorithm to solve the cyclic CPP on a weighted bi-directed de Bruijn graph, where p = max{|{υ∣din(υ) − dout(υ) > 0}|, |{υ∣din(υ) − dout(υ) < 0}|} and dmax = max{∣din(υ) − dout(υ)}. Our algorithm performs asymptotically better than the bi-directed flow algorithm when the number of imbalanced nodes p is much less than the nodes in the bi-directed graph. From our experimental results on various datasets, we have noticed that the value of p/|V| lies between 0.08% and 0.13% with 95% probability. Many practical bi-directed de Bruijn graphs do not have cyclic CP walks. In such cases it is not clear how the bi-directed flow can be useful in identifying contigs. Our algorithm can handle such situations and identify maximal bi-directed sub-graphs that have CP walks. A Θ(p(|V| + |E|)) time heuristic algorithm based on these ideas has been implemented for the SDDNA problem. This algorithm was tested on short reads from a plant genome and achieves an approximation ratio of at most 1.0134. We also present a Θ((|V| + |E|) log(V)) time algorithm for the single source shortest path problem on bi-directed de Bruijn graphs, which may be of independent interest. PMID:25364472
AN EFFICIENT ALGORITHM FOR CHINESE POSTMAN WALK ON BI-DIRECTED DE BRUIJN GRAPHS.
Kundeti, Vamsi; Rajasekaran, Sanguthevar; Dinh, Heiu
2010-01-01
Sequence assembly from short reads is an important problem in biology. It is known that solving the sequence assembly problem exactly on a bi-directed de Bruijn graph or a string graph is intractable. However, finding a shortest double stranded DNA string (SDDNA) containing all the k-long words in the reads seems to be a good heuristic to get close to the original genome. This problem is equivalent to finding a cyclic Chinese Postman (CP) walk on the underlying unweighted bi-directed de Bruijn graph built from the reads. The Chinese Postman walk Problem (CPP) is solved by reducing it to a general bi-directed flow on this graph which runs in O(|E|(2) log(2)(|V|)) time. In this paper we show that the cyclic CPP on bi-directed graphs can be solved without reducing it to bi-directed flow. We present a Θ(p(|V| + |E|) log(|V|) + (d max p)(3)) time algorithm to solve the cyclic CPP on a weighted bi-directed de Bruijn graph, where p = max{|{υ∣d in(υ) - d out(υ) > 0}|, |{υ∣d in(υ) - d out(υ) < 0}|} and d max = max{∣d in(υ) - d out(υ)}. Our algorithm performs asymptotically better than the bi-directed flow algorithm when the number of imbalanced nodes p is much less than the nodes in the bi-directed graph. From our experimental results on various datasets, we have noticed that the value of p/|V| lies between 0.08% and 0.13% with 95% probability. Many practical bi-directed de Bruijn graphs do not have cyclic CP walks. In such cases it is not clear how the bi-directed flow can be useful in identifying contigs. Our algorithm can handle such situations and identify maximal bi-directed sub-graphs that have CP walks. A Θ(p(|V| + |E|)) time heuristic algorithm based on these ideas has been implemented for the SDDNA problem. This algorithm was tested on short reads from a plant genome and achieves an approximation ratio of at most 1.0134. We also present a Θ((|V| + |E|) log(V)) time algorithm for the single source shortest path problem on bi-directed de Bruijn graphs, which may be of independent interest. PMID:25364472
Algorithms and Algorithmic Languages.
ERIC Educational Resources Information Center
Veselov, V. M.; Koprov, V. M.
This paper is intended as an introduction to a number of problems connected with the description of algorithms and algorithmic languages, particularly the syntaxes and semantics of algorithmic languages. The terms "letter, word, alphabet" are defined and described. The concept of the algorithm is defined and the relation between the algorithm and
Hemann, M T; Strong, M A; Hao, L Y; Greider, C W
2001-10-01
Loss of telomere function can induce cell cycle arrest and apoptosis. To investigate the processes that trigger cellular responses to telomere dysfunction, we crossed mTR-/- G6 mice that have short telomeres with mice heterozygous for telomerase (mTR+/-) that have long telomeres. The phenotype of the telomerase null offspring was similar to that of the late generation parent, although only half of the chromosomes were short. Strikingly, spectral karyotyping (SKY) analysis revealed that loss of telomere function occurred preferentially on chromosomes with critically short telomeres. Our data indicate that, while average telomere length is measured in most studies, it is not the average but rather the shortest telomeres that constitute telomere dysfunction and limit cellular survival in the absence of telomerase. PMID:11595186
Egocentric path integration models and their application to desert arthropods.
Merkle, Tobias; Rost, Martin; Alt, Wolfgang
2006-06-01
Path integration enables desert arthropods to find back to their nest on the shortest track from any position. To perform path integration successfully, speeds and turning angles along the preceding outbound path have to be measured continuously and combined to determine an internal global vector leading back home at any time. A number of experiments have given an idea how arthropods might use allothetic or idiothetic signals to perceive their orientation and moving speed. We systematically review the four possible model descriptions of mathematically precise path integration, whereby we favour and elaborate the hitherto not used variant of egocentric cartesian coordinates. Its simple and intuitive structure is demonstrated in comparison to the other models. Measuring two speeds, the forward moving speed and the angular turning rate, and implementing them into a linear system of differential equations provides the necessary information during outbound route, reorientation process and return path. In addition, we propose several possible types of systematic errors that can cause deviations from the correct homeward course. Deviations have been observed for several species of desert arthropods in different experiments, but their origin is still under debate. Using our egocentric path integration model we propose simple error indices depending on path geometry that will allow future experiments to rule out or corroborate certain error types. PMID:16300795
Learning to improve path planning performance
Chen, Pang C.
1995-04-01
In robotics, path planning refers to finding a short. collision-free path from an initial robot configuration to a desired configuratioin. It has to be fast to support real-time task-level robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To remedy this situation, we present and analyze a learning algorithm that uses past experience to increase future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster planning. More generally, the algorithm provides a speedup-learning framework in which a slow but capable planner may be improved both cost-wise and capability-wise by a faster but less capable planner coupled with experience. The basic algorithm is suitable for stationary environments, and can be extended to accommodate changing environments with on-demand experience repair and object-attached experience abstraction. To analyze the algorithm, we characterize the situations in which the adaptive planner is useful, provide quantitative bounds to predict its behavior, and confirm our theoretical results with experiments in path planning of manipulators. Our algorithm and analysis are sufficiently, general that they may also be applied to other planning domains in which experience is useful.
Robot navigation in unknown terrains: Introductory survey of non-heuristic algorithms
Rao, N.S.V.; Kareti, S.; Shi, Weimin; Iyengar, S.S.
1993-07-01
A formal framework for navigating a robot in a geometric terrain by an unknown set of obstacles is considered. Here the terrain model is not a priori known, but the robot is equipped with a sensor system (vision or touch) employed for the purpose of navigation. The focus is restricted to the non-heuristic algorithms which can be theoretically shown to be correct within a given framework of models for the robot, terrain and sensor system. These formulations, although abstract and simplified compared to real-life scenarios, provide foundations for practical systems by highlighting the underlying critical issues. First, the authors consider the algorithms that are shown to navigate correctly without much consideration given to the performance parameters such as distance traversed, etc. Second, they consider non-heuristic algorithms that guarantee bounds on the distance traversed or the ratio of the distance traversed to the shortest path length (computed if the terrain model is known). Then they consider the navigation of robots with very limited computational capabilities such as finite automata, etc.
An Energy Efficient Stable Election-Based Routing Algorithm for Wireless Sensor Networks
Wang, Jin; Zhang, Zhongqi; Xia, Feng; Yuan, Weiwei; Lee, Sungyoung
2013-01-01
Sensor nodes usually have limited energy supply and they are impractical to recharge. How to balance traffic load in sensors in order to increase network lifetime is a very challenging research issue. Many clustering algorithms have been proposed recently for wireless sensor networks (WSNs). However, sensor networks with one fixed sink node often suffer from a hot spots problem since nodes near sinks have more traffic burden to forward during a multi-hop transmission process. The use of mobile sinks has been shown to be an effective technique to enhance network performance features such as latency, energy efficiency, network lifetime, etc. In this paper, a modified Stable Election Protocol (SEP), which employs a mobile sink, has been proposed for WSNs with non-uniform node distribution. The decision of selecting cluster heads by the sink is based on the minimization of the associated additional energy and residual energy at each node. Besides, the cluster head selects the shortest path to reach the sink between the direct approach and the indirect approach with the use of the nearest cluster head. Simulation results demonstrate that our algorithm has better performance than traditional routing algorithms, such as LEACH and SEP. PMID:24284767
Path optimization for oil probe
NASA Astrophysics Data System (ADS)
Smith, O'Neil; Rahmes, Mark; Blue, Mark; Peter, Adrian
2014-05-01
We discuss a robust method for optimal oil probe path planning inspired by medical imaging. Horizontal wells require three-dimensional steering made possible by the rotary steerable capabilities of the system, which allows the hole to intersect multiple target shale gas zones. Horizontal "legs" can be over a mile long; the longer the exposure length, the more oil and natural gas is drained and the faster it can flow. More oil and natural gas can be produced with fewer wells and less surface disturbance. Horizontal drilling can help producers tap oil and natural gas deposits under surface areas where a vertical well cannot be drilled, such as under developed or environmentally sensitive areas. Drilling creates well paths which have multiple twists and turns to try to hit multiple accumulations from a single well location. Our algorithm can be used to augment current state of the art methods. Our goal is to obtain a 3D path with nodes describing the optimal route to the destination. This algorithm works with BIG data and saves cost in planning for probe insertion. Our solution may be able to help increase the energy extracted vs. input energy.
Energy Science and Technology Software Center (ESTSC)
2012-05-11
The ap command traveres all symlinks in a given file, directory, or executable name to identify the final absolute path. It can print just the final path, each intermediate link along with the symlink chan, and the permissions and ownership of each directory component in the final path. It has functionality similar to "which", except that it shows the final path instead of the first path. It is also similar to "pwd", but it canmore » provide the absolute path to a relative directory from the current working directory.« less
Zhu, Ping
2013-01-01
The unreliability and dynamics of mobile wireless sensor networks make it hard to perform end-to-end communications. This paper presents a novel source-initiated on-demand routing mechanism for efficient data transmission in mobile wireless sensor networks. It explores the Thorup-Zwick theory to achieve source-initiated on-demand routing with time efficiency. It is able to find out shortest routing path between source and target in a network and transfer data in linear time. The algorithm is easy to be implemented and performed in resource-constrained mobile wireless sensor networks. We also evaluate the approach by analyzing its cost in detail. It can be seen that the approach is efficient to support data transmission in mobile wireless sensor networks. PMID:24453826
Path planning on satellite images for unmanned surface vehicles
NASA Astrophysics Data System (ADS)
Yang, Joe-Ming; Tseng, Chien-Ming; Tseng, P. S.
2015-01-01
In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A* algorithm (FAA*), an advanced A* algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.
Computational path planner for product assembly in complex environments
NASA Astrophysics Data System (ADS)
Shang, Wei; Liu, Jianhua; Ning, Ruxin; Liu, Mi
2013-03-01
Assembly path planning is a crucial problem in assembly related design and manufacturing processes. Sampling based motion planning algorithms are used for computational assembly path planning. However, the performance of such algorithms may degrade much in environments with complex product structure, narrow passages or other challenging scenarios. A computational path planner for automatic assembly path planning in complex 3D environments is presented. The global planning process is divided into three phases based on the environment and specific algorithms are proposed and utilized in each phase to solve the challenging issues. A novel ray test based stochastic collision detection method is proposed to evaluate the intersection between two polyhedral objects. This method avoids fake collisions in conventional methods and degrades the geometric constraint when a part has to be removed with surface contact with other parts. A refined history based rapidly-exploring random tree (RRT) algorithm which bias the growth of the tree based on its planning history is proposed and employed in the planning phase where the path is simple but the space is highly constrained. A novel adaptive RRT algorithm is developed for the path planning problem with challenging scenarios and uncertain environment. With extending values assigned on each tree node and extending schemes applied, the tree can adapts its growth to explore complex environments more efficiently. Experiments on the key algorithms are carried out and comparisons are made between the conventional path planning algorithms and the presented ones. The comparing results show that based on the proposed algorithms, the path planner can compute assembly path in challenging complex environments more efficiently and with higher success. This research provides the references to the study of computational assembly path planning under complex environments.
Reconfigurable data path processor
NASA Technical Reports Server (NTRS)
Donohoe, Gregory (Inventor)
2005-01-01
A reconfigurable data path processor comprises a plurality of independent processing elements. Each of the processing elements advantageously comprising an identical architecture. Each processing element comprises a plurality of data processing means for generating a potential output. Each processor is also capable of through-putting an input as a potential output with little or no processing. Each processing element comprises a conditional multiplexer having a first conditional multiplexer input, a second conditional multiplexer input and a conditional multiplexer output. A first potential output value is transmitted to the first conditional multiplexer input, and a second potential output value is transmitted to the second conditional multiplexer output. The conditional multiplexer couples either the first conditional multiplexer input or the second conditional multiplexer input to the conditional multiplexer output, according to an output control command. The output control command is generated by processing a set of arithmetic status-bits through a logical mask. The conditional multiplexer output is coupled to a first processing element output. A first set of arithmetic bits are generated according to the processing of the first processable value. A second set of arithmetic bits may be generated from a second processing operation. The selection of the arithmetic status-bits is performed by an arithmetic-status bit multiplexer selects the desired set of arithmetic status bits from among the first and second set of arithmetic status bits. The conditional multiplexer evaluates the select arithmetic status bits according to logical mask defining an algorithm for evaluating the arithmetic status bits.
Adaptive path planning for flexible manufacturing
Chen, Pang C.
1994-08-01
Path planning needs to be fast to facilitate real-time robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To overcome this difficulty, we present an adaptive algorithm that uses past experience to speed up future performance. It is a learning algorithm suitable for automating flexible manufacturing in incrementally-changing environments. The algorithm allows the robot to adapt to its environment by having two experience manipulation schemes: For minor environmental change, we use an object-attached experience abstraction scheme to increase the flexibility of the learned experience; for major environmental change, we use an on-demand experience repair scheme to retain those experiences that remain valid and useful. Using this algorithm, we can effectively reduce the overall robot planning time by re-using the computation result for one task to plan a path for another.
Approximate path seeking for statistical iterative reconstruction
NASA Astrophysics Data System (ADS)
Wu, Meng; Yang, Qiao; Maier, Andreas; Fahrig, Rebecca
2015-03-01
Statistical iterative reconstruction (IR) techniques have demonstrated many advantages in X-ray CT reconstruction. The statistical iterative reconstruction approach is often modeled as an optimization problem including a data fitting function and a penalty function. The tuning parameter values that regulate the strength of the penalty function are critical for achieving good reconstruction results. However, appropriate tuning parameter values that are suitable for the scan protocols and imaging tasks are often difficult to choose. In this work, we propose a path seeking algorithm that is capable of generating a series of IR images with different strengths of the penalty function. The path seeking algorithm uses the ratio of the gradients of the data fitting function and the penalty function to select pixels for small fixed size updates. We describe the path seeking algorithm for penalized weighted least squares (PWLS) with a Huber penalty function in both the directions of increasing and decreasing tuning parameter value. Simulations using the XCAT phantom show the proposed method produces path images that are very similar to the IR images that are computed via direct optimization. The root-mean- squared-error of one path image generated by the proposed method relative to full iterative reconstruction is about 6 HU for the entire image and 10 HU for a small region. Different path seeking directions, increment sizes and updating percentages of the path seeking algorithm are compared in simulations. The proposed method may reduce the dependence on selection of good tuning parameter values by instead generating multiple IR images, without significantly increasing the computational load.
Resonating-Valence-Bond Physics Is Not Always Governed by the Shortest Tunneling Loops
NASA Astrophysics Data System (ADS)
Ralko, Arnaud; Rousochatzakis, Ioannis
2015-10-01
It is well known that the low-energy sector of quantum spin liquids and other magnetically disordered systems is governed by short-ranged resonating-valence bonds. Here we show that the standard minimal truncation to the nearest-neighbor valence-bond basis fails completely even for systems where it should work the most, according to received wisdom. This paradigm shift is demonstrated for the quantum spin-1 /2 square kagome, where strong geometric frustration, similar to the kagome, prevents magnetic ordering down to zero temperature. The shortest tunneling events bear the strongest longer-range singlet fluctuations, leading to amplitudes that do not drop exponentially with the length of the loop L , and to an unexpected loop-six valence-bond crystal, which is otherwise very high in energy at the minimal truncation level. The low-energy effective description gives in addition a clear example of correlated loop processes that depend not only on the type of the loop but also on its lattice embedding, a direct manifestation of the long-range nature of the virtual singlets.
Resonating-Valence-Bond Physics Is Not Always Governed by the Shortest Tunneling Loops.
Ralko, Arnaud; Rousochatzakis, Ioannis
2015-10-16
It is well known that the low-energy sector of quantum spin liquids and other magnetically disordered systems is governed by short-ranged resonating-valence bonds. Here we show that the standard minimal truncation to the nearest-neighbor valence-bond basis fails completely even for systems where it should work the most, according to received wisdom. This paradigm shift is demonstrated for the quantum spin-1/2 square kagome, where strong geometric frustration, similar to the kagome, prevents magnetic ordering down to zero temperature. The shortest tunneling events bear the strongest longer-range singlet fluctuations, leading to amplitudes that do not drop exponentially with the length of the loop L, and to an unexpected loop-six valence-bond crystal, which is otherwise very high in energy at the minimal truncation level. The low-energy effective description gives in addition a clear example of correlated loop processes that depend not only on the type of the loop but also on its lattice embedding, a direct manifestation of the long-range nature of the virtual singlets. PMID:26550898
Optimal paths through downbursts
NASA Technical Reports Server (NTRS)
Zhao, Yiyuan; Bryson, A. E.
1989-01-01
The control of an aircraft's takeoff path through a downburst is presently formulated as a dynamic optimization problem with minimum-altitude constraint and two different performance measures; a landing path through a downburst is also discussed. Paths are determined which, in addition to maximizing an airspeed/altitude combination immediately after downburst penetration, minimize deviation from the intended flight path. For mild-to-moderate downbursts, the performance strategy maintains altitude at the expense of airspeed loss, while the survival strategy involves a descent of the aircraft to the minimum altitude in order to obtain greater airspeed. For a severe downburst, both optimal paths maintain minimum altitude.
Vervet monkeys use paths consistent with context-specific spatial movement heuristics.
Teichroeb, Julie A
2015-10-01
Animal foraging routes are analogous to the computationally demanding "traveling salesman problem" (TSP), where individuals must find the shortest path among several locations before returning to the start. Humans approximate solutions to TSPs using simple heuristics or "rules of thumb," but our knowledge of how other animals solve multidestination routing problems is incomplete. Most nonhuman primate species have shown limited ability to route plan. However, captive vervets were shown to solve a TSP for six sites. These results were consistent with either planning three steps ahead or a risk-avoidance strategy. I investigated how wild vervet monkeys (Chlorocebus pygerythrus) solved a path problem with six, equally rewarding food sites; where site arrangement allowed assessment of whether vervets found the shortest route and/or used paths consistent with one of three simple heuristics to navigate. Single vervets took the shortest possible path in fewer than half of the trials, usually in ways consistent with the most efficient heuristic (the convex hull). When in competition, vervets' paths were consistent with different, more efficient heuristics dependent on their dominance rank (a cluster strategy for dominants and the nearest neighbor rule for subordinates). These results suggest that, like humans, vervets may solve multidestination routing problems by applying simple, adaptive, context-specific "rules of thumb." The heuristics that were consistent with vervet paths in this study are the same as some of those asserted to be used by humans. These spatial movement strategies may have common evolutionary roots and be part of a universal mental navigational toolkit. Alternatively, they may have emerged through convergent evolution as the optimal way to solve multidestination routing problems. PMID:26668734
Energy Science and Technology Software Center (ESTSC)
2013-07-29
The OpenEIS Algorithm package seeks to provide a low-risk path for building owners, service providers and managers to explore analytical methods for improving building control and operational efficiency. Users of this software can analyze building data, and learn how commercial implementations would provide long-term value. The code also serves as a reference implementation for developers who wish to adapt the algorithms for use in commercial tools or service offerings.
Understanding disordered systems through numerical simulation and algorithm development
NASA Astrophysics Data System (ADS)
Sweeney, Sean Michael
Disordered systems arise in many physical contexts. Not all matter is uniform, and impurities or heterogeneities can be modeled by fixed random disorder. Numerous complex networks also possess fixed disorder, leading to applications in transportation systems, telecommunications, social networks, and epidemic modeling, to name a few. Due to their random nature and power law critical behavior, disordered systems are difficult to study analytically. Numerical simulation can help overcome this hurdle by allowing for the rapid computation of system states. In order to get precise statistics and extrapolate to the thermodynamic limit, large systems must be studied over many realizations. Thus, innovative algorithm development is essential in order reduce memory or running time requirements of simulations. This thesis presents a review of disordered systems, as well as a thorough study of two particular systems through numerical simulation, algorithm development and optimization, and careful statistical analysis of scaling properties. Chapter 1 provides a thorough overview of disordered systems, the history of their study in the physics community, and the development of techniques used to study them. Topics of quenched disorder, phase transitions, the renormalization group, criticality, and scale invariance are discussed. Several prominent models of disordered systems are also explained. Lastly, analysis techniques used in studying disordered systems are covered. In Chapter 2, minimal spanning trees on critical percolation clusters are studied, motivated in part by an analytic perturbation expansion by Jackson and Read that I check against numerical calculations. This system has a direct mapping to the ground state of the strongly disordered spin glass. We compute the path length fractal dimension of these trees in dimensions d = {2, 3, 4, 5} and find our results to be compatible with the analytic results suggested by Jackson and Read. In Chapter 3, the random bond Ising ferromagnet is studied, which is especially useful since it serves as a prototype for more complicated disordered systems such as the random field Ising model and spin glasses. We investigate the effect that changing boundary spins has on the locations of domain walls in the interior of the random ferromagnet system. We provide an analytic proof that ground state domain walls in the two dimensional system are decomposable, and we map these domain walls to a shortest paths problem. By implementing a multiple-source shortest paths algorithm developed by Philip Klein, we are able to efficiently probe domain wall locations for all possible configurations of boundary spins. We consider lattices with uncorrelated dis- order, as well as disorder that is spatially correlated according to a power law. We present numerical results for the scaling exponent governing the probability that a domain wall can be induced that passes through a particular location in the system's interior, and we compare these results to previous results on the directed polymer problem.
AH Cam: A metal-rich RR Lyrae star with the shortest known Blazhko period
NASA Technical Reports Server (NTRS)
Smith, Horace A.; Matthews, Jaymie M.; Lee, Kevin M.; Williams, Jeffrey; Silbermann, N. A.; Bolte, Michael
1994-01-01
Analysis of 746 new V-band observations of the RR Lyrae star AH Cam obtained during 1989 - 1992 clearly show that its light curve cannot be described by a single period. In fact, at first glance, the Fourier spectrum of the photometry resembles that of a double-mode pulsator, with peaks at a fundamental period of 0.3686 d and an apparent secondary period of 0.2628 d. Nevertheless, the dual-mode solution is a poor fit to the data. Rather, we believe that AH Cam is a single-mode RR Lyrae star undergoing the Blazhko effect: periodic modulation of the amplitude and shape of its light curve. What was originally taken to be the period of the second mode is instead the 1-cycle/d alias of a modulation sidelobe in the Fourier spectrum. The data are well described by a modulation period of just under 11 d, which is the shortest Blazhko period reported to date in the literature and confirms the earlier suggestion by Goranskii. A low-resolution spectrum of AH Cam indicates that it is relatively metal rich, with delta-S less than or = 2. Its high metallicity and short modulation period may provide a critical test of at least one theory for the Blazhko effect. Moskalik's internal resonance model makes specific predictions of the growth rate of the fundamental model vs fundamental period. AH Cam falls outside the regime of other known Blazhko variables and resonance model predictions, but these are appropriate for metal-poor RR Lyrae stars. If the theory matches the behavior of AH Cam for a metal-rich stellar model, this would bolster the resonance hypothesis.
Shortest Loops are Pacemakers in Random Networks of Electrically Coupled Axons
Vladimirov, Nikita; Tu, Yuhai; Traub, Roger D.
2012-01-01
High-frequency oscillations (HFOs) are an important part of brain activity in health and disease. However, their origins remain obscure and controversial. One possible mechanism depends on the presence of sparsely distributed gap junctions that electrically couple the axons of principal cells. A plexus of electrically coupled axons is modeled as a random network with bi-directional connections between its nodes. Under certain conditions the network can demonstrate one of two types of oscillatory activity. Type I oscillations (100–200 Hz) are predicted to be caused by spontaneously spiking axons in a network with strong (high conductance) gap junctions. Type II oscillations (200–300 Hz) require no spontaneous spiking and relatively weak (low-conductance) gap junctions, across which spike propagation failures occur. The type II oscillations are reentrant and self-sustained. Here we examine what determines the frequency of type II oscillations. Using simulations we show that the distribution of loop lengths is the key factor for determining frequency in type II network oscillations. We first analyze spike failure between two electrically coupled cells using a model of anatomically reconstructed CA1 pyramidal neuron. Then network oscillations are studied by a cellular automaton model with random network connectivity, in which we control loop statistics. We show that oscillation periods can be predicted from the network’s loop statistics. The shortest loop, around which a spike can travel, is the most likely pacemaker candidate. The principle of one loop as a pacemaker is remarkable, because random networks contain a large number of loops juxtaposed and superimposed, and their number rapidly grows with network size. This principle allows us to predict the frequency of oscillations from network connectivity and visa versa. We finally propose that type I oscillations may correspond to ripples, while type II oscillations correspond to so-called fast ripples. PMID:22514532
Shortest Loops are Pacemakers in Random Networks of Electrically Coupled Axons.
Vladimirov, Nikita; Tu, Yuhai; Traub, Roger D
2012-01-01
High-frequency oscillations (HFOs) are an important part of brain activity in health and disease. However, their origins remain obscure and controversial. One possible mechanism depends on the presence of sparsely distributed gap junctions that electrically couple the axons of principal cells. A plexus of electrically coupled axons is modeled as a random network with bi-directional connections between its nodes. Under certain conditions the network can demonstrate one of two types of oscillatory activity. Type I oscillations (100-200 Hz) are predicted to be caused by spontaneously spiking axons in a network with strong (high conductance) gap junctions. Type II oscillations (200-300 Hz) require no spontaneous spiking and relatively weak (low-conductance) gap junctions, across which spike propagation failures occur. The type II oscillations are reentrant and self-sustained. Here we examine what determines the frequency of type II oscillations. Using simulations we show that the distribution of loop lengths is the key factor for determining frequency in type II network oscillations. We first analyze spike failure between two electrically coupled cells using a model of anatomically reconstructed CA1 pyramidal neuron. Then network oscillations are studied by a cellular automaton model with random network connectivity, in which we control loop statistics. We show that oscillation periods can be predicted from the network's loop statistics. The shortest loop, around which a spike can travel, is the most likely pacemaker candidate. The principle of one loop as a pacemaker is remarkable, because random networks contain a large number of loops juxtaposed and superimposed, and their number rapidly grows with network size. This principle allows us to predict the frequency of oscillations from network connectivity and visa versa. We finally propose that type I oscillations may correspond to ripples, while type II oscillations correspond to so-called fast ripples. PMID:22514532
A global path planning approach for redundant manipulators
NASA Technical Reports Server (NTRS)
Seereeram, Sanjeev; Wen, J.
1993-01-01
A new approach for global path planning of redundant manipulators is proposed. It poses the path planning problem as a finite time nonlinear control problem. The solution is found by a Newton-Raphson type algorithm. This technique is capable of handling various goal task descriptions as well as incorporating both joint and task space constraints. The algorithm has shown promising preliminary results in planning joint path sequences for 3R and 4R planar robots to meet Cartesian tip tracking and goal endpoint planning. It is robust with respect to local path planning problems such as singularity considerations and local minimum problems. Repetitive joint path solutions for cyclic end-effector tasks are also generated. Eventual goals of this work include implementation on full spatial robots, as well as provision of an interface for supervisory input to aid in path planning for more complex problems.
Multiobjective Evolutionary Path Planning via Sugeno-Based Tournament Selection
NASA Technical Reports Server (NTRS)
Dozier, Gerry; McCullough, Shaun; Homaifar, Abdollah; Esterline, Albert
1998-01-01
This paper introduces a new tournament selection algorithm that can be used for evolutionary path planning systems. The fuzzy (Sugeno) tournament selection algorithm (STSA) described in this paper selects candidate paths (CPs) to be parents and undergo reproduction based on: (1) path feasibility, (2) the euclidean distance of a path from the origin to its destination, and (3) the average change in the slope of a path. In this paper, we provide a detailed description of the fuzzy inference system used in the STSA as well as some examples of its usefulness. We then use 12 instances of our STSA to rank a population of CPs based on the above criteria. We also show how the STSA can obviate the need for the development of an explicit (lexicographic multiobjective) evaluation function and use it to develop multiobjective motion paths.
NASA Astrophysics Data System (ADS)
Lloyd, Seth; Dreyer, Olaf
2016-02-01
Path integrals calculate probabilities by summing over classical configurations of variables such as fields, assigning each configuration a phase equal to the action of that configuration. This paper defines a universal path integral, which sums over all computable structures. This path integral contains as sub-integrals all possible computable path integrals, including those of field theory, the standard model of elementary particles, discrete models of quantum gravity, string theory, etc. The universal path integral possesses a well-defined measure that guarantees its finiteness. The probabilities for events corresponding to sub-integrals can be calculated using the method of decoherent histories. The universal path integral supports a quantum theory of the universe in which the world that we see around us arises out of the interference between all computable structures.
Hybrid Genetic Algorithm with Fuzzy Logic Controller for Obstacle Location-Allocation Problem
NASA Astrophysics Data System (ADS)
Taniguchi, Jyunichi; Wang, Xiaodong; Gen, Mitsuo; Yokota, Takao
Location-allocation problem is known as one of the important problems faced in Industrial Engineering/Operations Research fields. One of important logistic tasks is transfer of manufactured products from plants to customers. If there is a need to supply products to large number of customers in a wide area, it is disadvantageous to deliver products from the only central distribution center or direct from plants. It is suitable to build up local distribution centers. In literature, different location models have been used according to characteristics of a distribution area. However, most of them related the location problem without obstacle. In this paper, an extended location-allocation problem with obstacles is considered. Since this problem is very complex and with many infeasible solutions, no direct method is effective to solve it, we propose a hybrid Genetic Algorithm (hGA) for effectively solving this problem. The proposed hGA combines two efficient methods based on Lagrangian relaxation and Dijkstra’s shortest path algorithm. To improve the performance of the proposed hGA, a Fuzzy Logic Controller (FLC) approach is also adopted to auto-tune the GA parameters.
The Improved Evolution Paths to Speedup Quantum Evolution
NASA Astrophysics Data System (ADS)
He, Yong; Deng, Yun; Luo, Ming-Xing
2016-04-01
The quantum adiabatic evolution is very important for quantum mechanics and applied in quantum information processing to solve the difficult problem. The traditional quantum adiabatic algorithms use the linear interpolating to construct quantum evolution paths. We construct special evolution paths to speedup quantum evolutions. By choosing state-dependent correlations some constant time evolution paths may be generated. This result is very useful quantum adiabatic simulations.
Attention trees and semantic paths
NASA Astrophysics Data System (ADS)
Giusti, Christian; Pieroni, Goffredo G.; Pieroni, Laura
2007-02-01
In the last few decades several techniques for image content extraction, often based on segmentation, have been proposed. It has been suggested that under the assumption of very general image content, segmentation becomes unstable and classification becomes unreliable. According to recent psychological theories, certain image regions attract the attention of human observers more than others and, generally, the image main meaning appears concentrated in those regions. Initially, regions attracting our attention are perceived as a whole and hypotheses on their content are formulated; successively the components of those regions are carefully analyzed and a more precise interpretation is reached. It is interesting to observe that an image decomposition process performed according to these psychological visual attention theories might present advantages with respect to a traditional segmentation approach. In this paper we propose an automatic procedure generating image decomposition based on the detection of visual attention regions. A new clustering algorithm taking advantage of the Delaunay- Voronoi diagrams for achieving the decomposition target is proposed. By applying that algorithm recursively, starting from the whole image, a transformation of the image into a tree of related meaningful regions is obtained (Attention Tree). Successively, a semantic interpretation of the leaf nodes is carried out by using a structure of Neural Networks (Neural Tree) assisted by a knowledge base (Ontology Net). Starting from leaf nodes, paths toward the root node across the Attention Tree are attempted. The task of the path consists in relating the semantics of each child-parent node pair and, consequently, in merging the corresponding image regions. The relationship detected in this way between two tree nodes generates, as a result, the extension of the interpreted image area through each step of the path. The construction of several Attention Trees has been performed and partial results will be shown.
ERIC Educational Resources Information Center
Wolfle, Lee M.
The purpose of this paper is to illuminate the advantages of path analysis for the exposition of results in data analytic papers. Probably the greatest advantage is that it provides a means by which the nature of the problem may be handily summarized. The method of path analysis, although conceived over sixty years ago by Sewell Wright, has only…
Following control for a UUV using temporary path generation guidance
NASA Astrophysics Data System (ADS)
Yan, Zheping; Chi, Dongnan; Zhou, Jiajia; Zhao, Yufei
2012-06-01
A path following control algorithm for an unmanned underwater vehicle (UUV) using temporary path generation guidance was proposed in this paper. Owing to different initial states of the vehicle, such as position and orientation, the path following control in the horizontal plane may yield a poor performance. To deal with the negative effect induced by initial states, a temporary path generation was presented based on the relationship between the original reference path and the vehicle's initial states. With different relative positions between the vehicle and reference path, including out of straight lines, as well as inside and outside a circle, the related temporary paths guiding the vehicle to the reference path were able to be generated in real time. The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path, where the controller was designed using the input-output feedback linearization method. Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.
Differential-Evolution Control Parameter Optimization for Unmanned Aerial Vehicle Path Planning.
Kok, Kai Yit; Rajendran, Parvathy
2016-01-01
The differential evolution algorithm has been widely applied on unmanned aerial vehicle (UAV) path planning. At present, four random tuning parameters exist for differential evolution algorithm, namely, population size, differential weight, crossover, and generation number. These tuning parameters are required, together with user setting on path and computational cost weightage. However, the optimum settings of these tuning parameters vary according to application. Instead of trial and error, this paper presents an optimization method of differential evolution algorithm for tuning the parameters of UAV path planning. The parameters that this research focuses on are population size, differential weight, crossover, and generation number. The developed algorithm enables the user to simply define the weightage desired between the path and computational cost to converge with the minimum generation required based on user requirement. In conclusion, the proposed optimization of tuning parameters in differential evolution algorithm for UAV path planning expedites and improves the final output path and computational cost. PMID:26943630
Differential-Evolution Control Parameter Optimization for Unmanned Aerial Vehicle Path Planning
Kok, Kai Yit; Rajendran, Parvathy
2016-01-01
The differential evolution algorithm has been widely applied on unmanned aerial vehicle (UAV) path planning. At present, four random tuning parameters exist for differential evolution algorithm, namely, population size, differential weight, crossover, and generation number. These tuning parameters are required, together with user setting on path and computational cost weightage. However, the optimum settings of these tuning parameters vary according to application. Instead of trial and error, this paper presents an optimization method of differential evolution algorithm for tuning the parameters of UAV path planning. The parameters that this research focuses on are population size, differential weight, crossover, and generation number. The developed algorithm enables the user to simply define the weightage desired between the path and computational cost to converge with the minimum generation required based on user requirement. In conclusion, the proposed optimization of tuning parameters in differential evolution algorithm for UAV path planning expedites and improves the final output path and computational cost. PMID:26943630
An optimization approach for mapping and measuring the divergence and correspondence between paths.
Mueller, Shane T; Perelman, Brandon S; Veinott, Elizabeth S
2016-03-01
Many domains of empirical research produce or analyze spatial paths as a measure of behavior. Previously, approaches for measuring the similarity or deviation between two paths have either required timing information or have used ad hoc or manual coding schemes. In this paper, we describe an optimization approach for robustly measuring the area-based deviation between two paths we call ALCAMP (Algorithm for finding the Least-Cost Areal Mapping between Paths). ALCAMP measures the deviation between two paths and produces a mapping between corresponding points on the two paths. The method is robust to a number of aspects in real path data, such as crossovers, self-intersections, differences in path segmentation, and partial or incomplete paths. Unlike similar algorithms that produce distance metrics between trajectories (i.e., paths that include timing information), this algorithm uses only the order of observed path segments to determine the mapping. We describe the algorithm and show its results on a number of sample problems and data sets, and demonstrate its effectiveness for assessing human memory for paths. We also describe available software code written in the R statistical computing language that implements the algorithm to enable data analysis. PMID:25737420
Enzymatic reaction paths as determined by transition path sampling
NASA Astrophysics Data System (ADS)
Masterson, Jean Emily
Enzymes are biological catalysts capable of enhancing the rates of chemical reactions by many orders of magnitude as compared to solution chemistry. Since the catalytic power of enzymes routinely exceeds that of the best artificial catalysts available, there is much interest in understanding the complete nature of chemical barrier crossing in enzymatic reactions. Two specific questions pertaining to the source of enzymatic rate enhancements are investigated in this work. The first is the issue of how fast protein motions of an enzyme contribute to chemical barrier crossing. Our group has previously identified sub-picosecond protein motions, termed promoting vibrations (PVs), that dynamically modulate chemical transformation in several enzymes. In the case of human heart lactate dehydrogenase (hhLDH), prior studies have shown that a specific axis of residues undergoes a compressional fluctuation towards the active site, decreasing a hydride and a proton donor--acceptor distance on a sub-picosecond timescale to promote particle transfer. To more thoroughly understand the contribution of this dynamic motion to the enzymatic reaction coordinate of hhLDH, we conducted transition path sampling (TPS) using four versions of the enzymatic system: a wild type enzyme with natural isotopic abundance; a heavy enzyme where all the carbons, nitrogens, and non-exchangeable hydrogens were replaced with heavy isotopes; and two versions of the enzyme with mutations in the axis of PV residues. We generated four separate ensembles of reaction paths and analyzed each in terms of the reaction mechanism, time of barrier crossing, dynamics of the PV, and residues involved in the enzymatic reaction coordinate. We found that heavy isotopic substitution of hhLDH altered the sub-picosecond dynamics of the PV, changed the favored reaction mechanism, dramatically increased the time of barrier crossing, but did not have an effect on the specific residues involved in the PV. In the mutant systems, we observed changes in the reaction mechanism and altered contributions of the mutated residues to the enzymatic reaction coordinate, but we did not detect a substantial change in the time of barrier crossing. These results confirm the importance of maintaining the dynamics and structural scaffolding of the hhLDH PV in order to facilitate facile barrier passage. We also utilized TPS to investigate the possible role of fast protein dynamics in the enzymatic reaction coordinate of human dihydrofolate reductase (hsDHFR). We found that sub-picosecond dynamics of hsDHFR do contribute to the reaction coordinate, whereas this is not the case in the E. coli version of the enzyme. This result indicates a shift in the DHFR family to a more dynamic version of catalysis. The second inquiry we addressed in this thesis regarding enzymatic barrier passage concerns the variability of paths through reactive phase space for a given enzymatic reaction. We further investigated the hhLDH-catalyzed reaction using a high-perturbation TPS algorithm. Though we saw that alternate reaction paths were possible, the dominant reaction path we observed corresponded to that previously elucidated in prior hhLDH TPS studies. Since the additional reaction paths we observed were likely high-energy, these results indicate that only the dominant reaction path contributes significantly to the overall reaction rate. In conclusion, we show that the enzymes hhLDH and hsDHFR exhibit paths through reactive phase space where fast protein motions are involved in the enzymatic reaction coordinate and exhibit a non-negligible contribution to chemical barrier crossing.
Zhu, Daqi; Huang, Huan; Yang, S X
2013-04-01
For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper. PMID:22949070
ERIC Educational Resources Information Center
Stegemoller, William; Stegemoller, Rebecca
2004-01-01
The path taken and the turns made as a turtle traces a polygon are examined to discover an important theorem in geometry. A unique tool, the Angle Adder, is implemented in the investigation. (Contains 9 figures.)
Tortuous path chemical preconcentrator
Manginell, Ronald P.; Lewis, Patrick R.; Adkins, Douglas R.; Wheeler, David R.; Simonson, Robert J.
2010-09-21
A non-planar, tortuous path chemical preconcentrator has a high internal surface area having a heatable sorptive coating that can be used to selectively collect and concentrate one or more chemical species of interest from a fluid stream that can be rapidly released as a concentrated plug into an analytical or microanalytical chain for separation and detection. The non-planar chemical preconcentrator comprises a sorptive support structure having a tortuous flow path. The tortuosity provides repeated twists, turns, and bends to the flow, thereby increasing the interfacial contact between sample fluid stream and the sorptive material. The tortuous path also provides more opportunities for desorption and readsorption of volatile species. Further, the thermal efficiency of the tortuous path chemical preconcentrator is comparable or superior to the prior non-planar chemical preconcentrator. Finally, the tortuosity can be varied in different directions to optimize flow rates during the adsorption and desorption phases of operation of the preconcentrator.
NASA Astrophysics Data System (ADS)
Rogal, Jutta; Lechner, Wolfgang; Juraszek, Jarek; Ensing, Bernd; Bolhuis, Peter G.
2010-11-01
We introduce a reweighting scheme for the path ensembles in the transition interface sampling framework. The reweighting allows for the analysis of free energy landscapes and committor projections in any collective variable space. We illustrate the reweighting scheme on a two dimensional potential with a nonlinear reaction coordinate and on a more realistic simulation of the Trp-cage folding process. We suggest that the reweighted path ensemble can be used to optimize possible nonlinear reaction coordinates.
Multipath Binomial Congestion Control Algorithms
NASA Astrophysics Data System (ADS)
Le, Tuan Anh; Hong, Choong Seon; Lee, Sungwon
Nowadays portable devices with multiple wireless interfaces and using multimedia services are becoming more popular on the Internet. This paper describes a family of multipath binomial congestion control algorithms for audio/video streaming, where a low variant of transmission rate is important. We extend the fluid model of binomial algorithms for single-path transmission to support the concurrent transmission of packets across multiple paths. We focus on the extension of two particular algorithms, SQRT and IIAD, for multiple paths, called MPSQRT and MPIIAD, respectively. Additionally, we apply the design technique (using the multipath fluid model) for multipath TCP (MPTCP) into the extension of SQRT and IIAD, called fbMPSQRT and fbMPIIAD, respectively. Both two approaches ensure that multipath binomial congestion control algorithms achieve load-balancing, throughput improvement, and fairness to single-path binomial algorithms at shared bottlenecks. Through the simulations and comparison with the uncoordinated protocols MPSQRT/MPIIAD, fbMPSQRT/fbMPIIAD and MPTCP, we find that our extended multipath transport protocols can preserve lower latency and transmission rate variance than MPTCP, fairly share with single-path SQRT/IIAD, MPTCP and TCP, and also can achieve throughput improvements and load-balancing equivalent to those of MPTCP under various scenarios and network conditions.
The lawnmower problem and other geometric path covering problems
Fekete, S.; Arkin, E.; Mitchell, J.
1994-12-31
We discuss the Lawnmower Problem: Given a polygonal region, find the shortest closed path along which we have to move a given object (typically a square or a circle), such that any point of the region will be covered by the object for some position of it movement. In another version of the problem, known as the Milling Problem, the object has to stay within the region at all times. Practical motivations for considering the Lawnmower Problem come from manufacturing (spray painting, quality control), geography (aerial surveys), optimization (tour planning for a large number of clients with limited mobility), and gardening. The Milling Problem has gained attention by its importance for NC pocket machining. We show that both problems are NP-hard and discuss approximation methods for various versions of the problem.
Adaptive path planning in changing environments
Chen, Pang C.
1993-10-01
Path planning needs to be fast to facilitate real-time robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To overcome this difficulty, we present an adaptive algorithm that uses previous experience to speed up future performance. It is a learning algorithm suitable for incrementally-changing environments such as those encountered in manufacturing of evolving products and waste-site remediation. The algorithm extends our previous work for stationary environments in two directions: For minor environmental change, an object-attached experience abstraction scheme is introduced to increase the flexibility of the learned experience; for major environmental change, an on-demand experience repair scheme is also introduced to retain those experiences that remain valid and useful. In addition to presenting this algorithm, we identify three other variants with different repair strategies. To compare these algorithms, we develop an analytic model to compare the costs and benefits of the corresponding repair processes. Using this model, we formalize the concept of incremental change, and prove the optimality of our proposed algorithm under such change. Empirically, we also characterize the performance curve of each variant, confirm our theoretical optimality results, and demonstrate the practicality of our algorithm.
Image-based path planning for automated virtual colonoscopy navigation
NASA Astrophysics Data System (ADS)
Hong, Wei
2008-03-01
Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.
NASA Astrophysics Data System (ADS)
Ohya, Satoshi
2012-06-01
We propose path integral description for quantum mechanical systems on compact graphs consisting of N segments of the same length. Provided the bulk Hamiltonian is segment-independent, scale-invariant boundary conditions given by the self-adjoint extension of a Hamiltonian operator turn out to be in one-to-one correspondence with N × N matrix-valued weight factors on the path integral side. We show that these weight factors are given by N-dimensional unitary representations of the infinite dihedral group.
Adaptive robot path planning in changing environments
Chen, P.C.
1994-08-01
Path planning needs to be fast to facilitate real-time robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To overcome this difficulty, we present an adaptive algorithm that uses past experience to speed up future performance. It is a learning algorithm suitable for incrementally-changing environments such as those encountered in manufacturing of evolving products and waste-site remediation. The algorithm allows the robot to adapt to its environment by having two experience manipulation schemes: For minor environmental change, we use an object-attached experience abstraction scheme to increase the flexibility of the learned experience; for major environmental change, we use an on-demand experience repair scheme to retain those experiences that remain valid and useful. Using this algorithm, we can effectively reduce the overall robot planning time by re-using the computation result for one task to plan a path for another.
ERIC Educational Resources Information Center
Lee, John B.; Clery, Suzanne B.; Presley, Jennifer B.
This report uses the national Baccalaureate and Beyond longitudinal database to look at the early career paths of 1993 college graduates. The results provide information on which college graduates became teachers, where they taught, and whether they left teaching within 3 years. Overall, it is not easy to predict who may be potential teachers when…
NASA Technical Reports Server (NTRS)
Bill, R. C.; Johnson, R. D. (Inventor)
1979-01-01
A gas path seal suitable for use with a turbine engine or compressor is described. A shroud wearable or abradable by the abrasion of the rotor blades of the turbine or compressor shrouds the rotor bades. A compliant backing surrounds the shroud. The backing is a yieldingly deformable porous material covered with a thin ductile layer. A mounting fixture surrounds the backing.
ERIC Educational Resources Information Center
McGarvey, Lynn M.; Sterenberg, Gladys Y.; Long, Julie S.
2013-01-01
The authors elucidate what they saw as three important challenges to overcome along the path to becoming elementary school mathematics teacher leaders: marginal interest in math, low self-confidence, and teaching in isolation. To illustrate how these challenges were mitigated, they focus on the stories of two elementary school teachers--Laura and
ERIC Educational Resources Information Center
McGarvey, Lynn M.; Sterenberg, Gladys Y.; Long, Julie S.
2013-01-01
The authors elucidate what they saw as three important challenges to overcome along the path to becoming elementary school mathematics teacher leaders: marginal interest in math, low self-confidence, and teaching in isolation. To illustrate how these challenges were mitigated, they focus on the stories of two elementary school teachers--Laura and…
Probing nonlinear adiabatic paths with a universal integrator
NASA Astrophysics Data System (ADS)
Hofmann, Michael; Schaller, Gernot
2014-03-01
We apply a flexible numerical integrator to the simulation of adiabatic quantum computation with nonlinear paths. We find that a nonlinear path may significantly improve the performance of adiabatic algorithms versus the conventional straight-line interpolations. The employed integrator is suitable for solving the time-dependent Schrödinger equation for any qubit Hamiltonian. Its flexible storage format significantly reduces cost for storage and matrix-vector multiplication in comparison to common sparse matrix schemes.
Generalized gradient algorithm for trajectory optimization
NASA Technical Reports Server (NTRS)
Zhao, Yiyuan; Bryson, A. E.; Slattery, R.
1990-01-01
The generalized gradient algorithm presented and verified as a basis for the solution of trajectory optimization problems improves the performance index while reducing path equality constraints, and terminal equality constraints. The algorithm is conveniently divided into two phases, of which the first, 'feasibility' phase yields a solution satisfying both path and terminal constraints, while the second, 'optimization' phase uses the results of the first phase as initial guesses.
NASA Astrophysics Data System (ADS)
Li, Qingquan; Zeng, Zhe; Zhang, Tong; Li, Jonathan; Wu, Zhongheng
2011-02-01
Optimal paths computed by conventional path-planning algorithms are usually not "optimal" since realistic traffic information and local road network characteristics are not considered. We present a new experiential approach that computes optimal paths based on the experience of taxi drivers by mining a huge number of floating car trajectories. The approach consists of three steps. First, routes are recovered from original taxi trajectories. Second, an experiential road hierarchy is constructed using travel frequency and speed information for road segments. Third, experiential optimal paths are planned based on the experiential road hierarchy. Compared with conventional path-planning methods, the proposed method provides better experiential optimal path identification. Experiments demonstrate that the travel time is less for these experiential paths than for paths planned by conventional methods. Results obtained for a case study in the city of Wuhan, China, demonstrate that experiential optimal paths can be flexibly obtained in different time intervals, particularly during peak hours.
Automatic tool path generation for finish machining
Kwok, Kwan S.; Loucks, C.S.; Driessen, B.J.
1997-03-01
A system for automatic tool path generation was developed at Sandia National Laboratories for finish machining operations. The system consists of a commercially available 5-axis milling machine controlled by Sandia developed software. This system was used to remove overspray on cast turbine blades. A laser-based, structured-light sensor, mounted on a tool holder, is used to collect 3D data points around the surface of the turbine blade. Using the digitized model of the blade, a tool path is generated which will drive a 0.375 inch diameter CBN grinding pin around the tip of the blade. A fuzzified digital filter was developed to properly eliminate false sensor readings caused by burrs, holes and overspray. The digital filter was found to successfully generate the correct tool path for a blade with intentionally scanned holes and defects. The fuzzified filter improved the computation efficiency by a factor of 25. For application to general parts, an adaptive scanning algorithm was developed and presented with simulation results. A right pyramid and an ellipsoid were scanned successfully with the adaptive algorithm.
Path planning for machine vision assisted, teleoperated pavement crack sealer
Kim, Y.S.; Haas, C.T.; Greer, R.
1998-03-01
During the last few years, several teleoperated and machine-vision-assisted systems have been developed in construction and maintenance areas such as pavement crack sealing, sewer pipe rehabilitation, excavation, surface finishing, and materials handling. This paper presents a path-planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In general, path planning is an important task for optimal motion of a robot whether its environment is structured or unstructured. Manual path planning is not always possible or desirable. A simple greedy path algorithm is utilized for optimal motion of the automated pavement crack sealer. Some unique and broadly applicable computational tools and data structures are required to implement the algorithm in a digital image domain. These components are described, then the performance of the algorithm is compared with the implicit manual path plans of system operators. The comparison is based on computational cost versus overall gains in crack-sealing-process efficiency. Applications of this work in teleoperation, graphical control, and other infrastructure maintenance areas are also suggested.
NASA Technical Reports Server (NTRS)
Wang, Lui; Bayer, Steven E.
1991-01-01
Genetic algorithms are mathematical, highly parallel, adaptive search procedures (i.e., problem solving methods) based loosely on the processes of natural genetics and Darwinian survival of the fittest. Basic genetic algorithms concepts are introduced, genetic algorithm applications are introduced, and results are presented from a project to develop a software tool that will enable the widespread use of genetic algorithm technology.
Path Integrals and Exotic Options:. Methods and Numerical Results
NASA Astrophysics Data System (ADS)
Bormetti, G.; Montagna, G.; Moreni, N.; Nicrosini, O.
2005-09-01
In the framework of Black-Scholes-Merton model of financial derivatives, a path integral approach to option pricing is presented. A general formula to price path dependent options on multidimensional and correlated underlying assets is obtained and implemented by means of various flexible and efficient algorithms. As an example, we detail the case of Asian call options. The numerical results are compared with those obtained with other procedures used in quantitative finance and found to be in good agreement. In particular, when pricing at the money (ATM) and out of the money (OTM) options, path integral exhibits competitive performances.
The traffic equilibrium problem with nonadditive path costs
Gabriel, S.A.; Bernstein, D.
1995-08-21
In this paper the authors present a version of the (static) traffic equilibrium problem in which the cost incurred on a path is not simply the sum of the costs on the arcs that constitute that path. The authors motivate this nonadditive version of the problem by describing several situations in which the classical additivity assumption fails. They also present an algorithm for solving nonadditive problems that is based on the recent NE/SQP algorithm, a fast and robust method for the nonlinear complementarity problem. Finally, they present a small example that illustrates both the importance of using nonadditive costs and the effectiveness of the NE/SQP method.
Quad-rotor flight path energy optimization
NASA Astrophysics Data System (ADS)
Kemper, Edward
Quad-Rotor unmanned areal vehicles (UAVs) have been a popular area of research and development in the last decade, especially with the advent of affordable microcontrollers like the MSP 430 and the Raspberry Pi. Path-Energy Optimization is an area that is well developed for linear systems. In this thesis, this idea of path-energy optimization is extended to the nonlinear model of the Quad-rotor UAV. The classical optimization technique is adapted to the nonlinear model that is derived for the problem at hand, coming up with a set of partial differential equations and boundary value conditions to solve these equations. Then, different techniques to implement energy optimization algorithms are tested using simulations in Python. First, a purely nonlinear approach is used. This method is shown to be computationally intensive, with no practical solution available in a reasonable amount of time. Second, heuristic techniques to minimize the energy of the flight path are tested, using Ziegler-Nichols' proportional integral derivative (PID) controller tuning technique. Finally, a brute force look-up table based PID controller is used. Simulation results of the heuristic method show that both reliable control of the system and path-energy optimization are achieved in a reasonable amount of time.
Search properties of some sequential decoding algorithms.
NASA Technical Reports Server (NTRS)
Geist, J. M.
1973-01-01
Sequential decoding procedures are studied in the context of selecting a path through a tree. Several algorithms are considered, and their properties are compared. It is shown that the stack algorithm introduced by Zigangirov (1966) and by Jelinek (1969) is essentially equivalent to the Fano algorithm with regard to the set of nodes examined and the path selected, although the description, implementation, and action of the two algorithms are quite different. A modified Fano algorithm is introduced, in which the quantizing parameter is eliminated. It can be inferred from limited simulation results that, at least in some applications, the new algorithm is computationally inferior to the old. However, it is of some theoretical interest since the conventional Fano algorithm may be considered to be a quantized version of it.
NASA Astrophysics Data System (ADS)
Zheng, Feifei; Simpson, Angus R.; Zecchin, Aaron C.
2011-08-01
This paper proposes a novel optimization approach for the least cost design of looped water distribution systems (WDSs). Three distinct steps are involved in the proposed optimization approach. In the first step, the shortest-distance tree within the looped network is identified using the Dijkstra graph theory algorithm, for which an extension is proposed to find the shortest-distance tree for multisource WDSs. In the second step, a nonlinear programming (NLP) solver is employed to optimize the pipe diameters for the shortest-distance tree (chords of the shortest-distance tree are allocated the minimum allowable pipe sizes). Finally, in the third step, the original looped water network is optimized using a differential evolution (DE) algorithm seeded with diameters in the proximity of the continuous pipe sizes obtained in step two. As such, the proposed optimization approach combines the traditional deterministic optimization technique of NLP with the emerging evolutionary algorithm DE via the proposed network decomposition. The proposed methodology has been tested on four looped WDSs with the number of decision variables ranging from 21 to 454. Results obtained show the proposed approach is able to find optimal solutions with significantly less computational effort than other optimization techniques.
Practical and conceptual path sampling issues
NASA Astrophysics Data System (ADS)
Bolhuis, P. G.; Dellago, C.
2015-09-01
In the past 15 years transition path sampling (TPS) has evolved from its basic algorithm to an entire collection of methods and a framework for investigating rare events in complex systems. The methodology is applicable to a wide variety of systems and processes, ranging from transitions in small clusters or molecules to chemical reactions, phase transitions, and conformational changes in biomolecules. The basic idea of TPS is to harvest dynamical unbiased trajectories that connect a reactant with a product, by a Markov Chain Monte Carlo procedure called shooting. This simple importance sampling yields the rate constants, the free energy surface, insight in the mechanism of the rare event of interest, and by using the concept of the committor, also access to the reaction coordinate. In the last decade extensions to TPS have been developed, notably the transition interface sampling (TIS) methods, and its generalization multiple state TIS. Combination with advanced sampling methods such as replica exchange and the Wang-Landau algorithm, among others, improves sampling efficiency. Notwithstanding the success of TPS, there are issues left to discuss, and, despite the method's apparent simplicity, many pitfalls to avoid. This paper discusses several of these issues and pitfalls: the choice of stable states and interface order parameters, the problem of positioning the TPS windows and TIS interfaces, the matter of convergence of the path ensemble, the matter of kinetic traps, and the question whether TPS is able to investigate and sample Markov state models. We also review the reweighting technique used to join path ensembles. Finally we discuss the use of the sampled path ensemble to obtain reaction coordinates.
Filtered backprojection proton CT reconstruction along most likely paths
Rit, Simon; Dedes, George; Freud, Nicolas; Sarrut, David; Letang, Jean Michel
2013-03-15
Purpose: Proton CT (pCT) has the potential to accurately measure the electron density map of tissues at low doses but the spatial resolution is prohibitive if the curved paths of protons in matter is not accounted for. The authors propose to account for an estimate of the most likely path of protons in a filtered backprojection (FBP) reconstruction algorithm. Methods: The energy loss of protons is first binned in several proton radiographs at different distances to the proton source to exploit the depth-dependency of the estimate of the most likely path. This process is named the distance-driven binning. A voxel-specific backprojection is then used to select the adequate radiograph in the distance-driven binning in order to propagate in the pCT image the best achievable spatial resolution in proton radiographs. The improvement in spatial resolution is demonstrated using Monte Carlo simulations of resolution phantoms. Results: The spatial resolution in the distance-driven binning depended on the distance of the objects from the source and was optimal in the binned radiograph corresponding to that distance. The spatial resolution in the reconstructed pCT images decreased with the depth in the scanned object but it was always better than previous FBP algorithms assuming straight line paths. In a water cylinder with 20 cm diameter, the observed range of spatial resolutions was 0.7 - 1.6 mm compared to 1.0 - 2.4 mm at best with a straight line path assumption. The improvement was strongly enhanced in shorter 200 Degree-Sign scans. Conclusions: Improved spatial resolution was obtained in pCT images with filtered backprojection reconstruction using most likely path estimates of protons. The improvement in spatial resolution combined with the practicality of FBP algorithms compared to iterative reconstruction algorithms makes this new algorithm a candidate of choice for clinical pCT.
Planning paths through a spatial hierarchy - Eliminating stair-stepping effects
NASA Technical Reports Server (NTRS)
Slack, Marc G.
1989-01-01
Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.
NASA Technical Reports Server (NTRS)
Robinson, Judith L.; Charles, John B.; Rummel, John A. (Technical Monitor)
2000-01-01
Approximately three years ago, the Agency's lead center for the human elements of spaceflight (the Johnson Space Center), along with the National Biomedical Research Institute (NSBRI) (which has the lead role in developing countermeasures) initiated an activity to identify the most critical risks confronting extended human spaceflight. Two salient factors influenced this activity: first, what information is needed to enable a "go/no go" decision to embark on extended human spaceflight missions; and second, what knowledge and capabilities are needed to address known and potential health, safety and performance risks associated with such missions. A unique approach was used to first define and assess those risks, and then to prioritize them. This activity was called the Critical Path Roadmap (CPR) and it represents an opportunity to develop and implement a focused and evolving program of research and technology designed from a "risk reduction" perspective to prevent or minimize the risks to humans exposed to the space environment. The Critical Path Roadmap provides the foundation needed to ensure that human spaceflight, now and in the future, is as safe, productive and healthy as possible (within the constraints imposed on any particular mission) regardless of mission duration or destination. As a tool, the Critical Path Roadmap enables the decisionmaker to select from among the demonstrated or potential risks those that are to be mitigated, and the completeness of that mitigation. The primary audience for the CPR Web Site is the members of the scientific community who are interested in the research and technology efforts required for ensuring safe and productive human spaceflight. They may already be informed about the various space life sciences research programs or they may be newcomers. Providing the CPR content to potential investigators increases the probability of their delivering effective risk mitigations. Others who will use the CPR Web Site and its content include program managers and administrators who track the program and are involved in decisions regarding resource allocation and program evaluation.
NASA Technical Reports Server (NTRS)
Robinson, Judith L.; Charles, John B.; Rummel, John A. (Technical Monitor)
2000-01-01
Approximately three years ago, the Agency's lead center for the human elements of spaceflight (the Johnson Space Center), along with the National Biomedical Research Institute (NSBRI) (which has the lead role in developing countermeasures) initiated an activity to identify the most critical risks confronting extended human spaceflight. Two salient factors influenced this activity: first, what information is needed to enable a "go/no go" decision to embark on extended human spaceflight missions; and second, what knowledge and capabilities are needed to address known and potential health, safety and performance risks associated with such missions. A unique approach was used to first define and assess those risks, and then to prioritize them. This activity was called the Critical Path Roadmap (CPR) and it represents an opportunity to develop and implement a focused and evolving program of research and technology designed from a "risk reduction" perspective to prevent or minimize the risks to humans exposed to the space environment. The Critical Path Roadmap provides the foundation needed to ensure that human spaceflight, now and in the future, is as safe, productive and healthy as possible (within the constraints imposed on any particular mission) regardless of mission duration or destination. As a tool, the Critical Path Roadmap enables the decision maker to select from among the demonstrated or potential risks those that are to be mitigated, and the completeness of that mitigation. The primary audience for the CPR Web Site is the members of the scientific community who are interested in the research and technology efforts required for ensuring safe and productive human spaceflight. They may already be informed about the various space life sciences research programs or they may be newcomers. Providing the CPR content to potential investigators increases the probability of their delivering effective risk mitigations. Others who will use the CPR Web Site and its content include program managers and administrators who track the program and are involved in decisions regarding resource allocation and program evaluation.
NASA Technical Reports Server (NTRS)
Mehhtz, Peter
2005-01-01
JPF is an explicit state software model checker for Java bytecode. Today, JPF is a swiss army knife for all sort of runtime based verification purposes. This basically means JPF is a Java virtual machine that executes your program not just once (like a normal VM), but theoretically in all possible ways, checking for property violations like deadlocks or unhandled exceptions along all potential execution paths. If it finds an error, JPF reports the whole execution that leads to it. Unlike a normal debugger, JPF keeps track of every step how it got to the defect.
Path Integrals and Supersolids
NASA Astrophysics Data System (ADS)
Ceperley, D. M.
2008-11-01
Recent experiments by Kim and Chan on solid 4He have been interpreted as discovery of a supersolid phase of matter. Arguments based on wavefunctions have shown that such a phase exists, but do not necessarily apply to solid 4He. Imaginary time path integrals, implemented using Monte Carlo methods, provide a definitive answer; a clean system of solid 4He should be a normal quantum solid, not one with superfluid properties. The Kim-Chan phenomena must be due to defects introduced when the solid is formed.
Bleakley, Hoyt; Lin, Jeffrey
2012-05-01
We examine portage sites in the U.S. South, Mid-Atlantic, and Midwest, including those on the fall line, a geomorphological feature in the southeastern U.S. marking the final rapids on rivers before the ocean. Historically, waterborne transport of goods required portage around the falls at these points, while some falls provided water power during early industrialization. These factors attracted commerce and manufacturing. Although these original advantages have long since been made obsolete, we document the continuing importance of these portage sites over time. We interpret these results as path dependence and contrast explanations based on sunk costs interacting with decreasing versus increasing returns to scale. PMID:23935217
Bleakley, Hoyt; Lin, Jeffrey
2012-01-01
We examine portage sites in the U.S. South, Mid-Atlantic, and Midwest, including those on the fall line, a geomorphological feature in the southeastern U.S. marking the final rapids on rivers before the ocean. Historically, waterborne transport of goods required portage around the falls at these points, while some falls provided water power during early industrialization. These factors attracted commerce and manufacturing. Although these original advantages have long since been made obsolete, we document the continuing importance of these portage sites over time. We interpret these results as path dependence and contrast explanations based on sunk costs interacting with decreasing versus increasing returns to scale. PMID:23935217
Path Following with Slip Compensation for a Mars Rover
NASA Technical Reports Server (NTRS)
Helmick, Daniel; Cheng, Yang; Clouse, Daniel; Matthies, Larry; Roumeliotis, Stergios
2005-01-01
A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.
NASA Astrophysics Data System (ADS)
Moradi, M.; Delavar, M. R.; Moradi, A.
2015-12-01
Being one of the natural disasters, earthquake can seriously damage buildings, urban facilities and cause road blockage. Post-earthquake route planning is problem that has been addressed in frequent researches. The main aim of this research is to present a route planning model for after earthquake. It is assumed in this research that no damage data is available. The presented model tries to find the optimum route based on a number of contributing factors which mainly indicate the length, width and safety of the road. The safety of the road is represented by a number of criteria such as distance to faults, percentage of non-standard buildings and percentage of high buildings around the route. An integration of genetic algorithm and ordered weighted averaging operator is employed in the model. The former searches the problem space among all alternatives, while the latter aggregates the scores of road segments to compute an overall score for each alternative. Ordered weighted averaging operator enables the users of the system to evaluate the alternative routes based on their decision strategy. Based on the proposed model, an optimistic user tries to find the shortest path between the two points, whereas a pessimistic user tends to pay more attention to safety parameters even if it enforces a longer route. The results depicts that decision strategy can considerably alter the optimum route. Moreover, post-earthquake route planning is a function of not only the length of the route but also the probability of the road blockage.
Hardwick, R D
1989-01-01
The design and implementation of an Intrusion Path Analysis (IPA) function came about as a result of the upgrades to the security systems at the Savannah River Site (SRS), near Aiken, South Carolina. The stated requirements for IPA were broad, leaving opportunity for creative freedom during design and development. The essential elements were that it: be based on alarm and sensor state data; consider insider as well as outsider threats; be flexible and easily enabled or disabled; not be processor intensive; and provide information to the operator in the event the analysis reveals possible path openings. The final design resulted from many and varied conceptual inputs, and will be implemented in selected test areas at SRS. It fulfils the requirements and: allows selective inclusion of sensors in the analysis; permits the formation of concentric rings of protection around assets; permits the defining of the number of rings which must be breached before issuing an alert; evaluates current sensor states as well as a recent, configurable history of sensor states; considers the sensors' physical location, with respect to the concentric rings; and enables changes for maintenance without software recompilation. 3 figs.
NASA Technical Reports Server (NTRS)
Abrams, D.; Williams, C.
1999-01-01
This thesis describes several new quantum algorithms. These include a polynomial time algorithm that uses a quantum fast Fourier transform to find eigenvalues and eigenvectors of a Hamiltonian operator, and that can be applied in cases for which all know classical algorithms require exponential time.
Aircraft path planning for optimal imaging using dynamic cost functions
NASA Astrophysics Data System (ADS)
Christie, Gordon; Chaudhry, Haseeb; Kochersberger, Kevin
2015-05-01
Unmanned aircraft development has accelerated with recent technological improvements in sensing and communications, which has resulted in an "applications lag" for how these aircraft can best be utilized. The aircraft are becoming smaller, more maneuverable and have longer endurance to perform sensing and sampling missions, but operating them aggressively to exploit these capabilities has not been a primary focus in unmanned systems development. This paper addresses a means of aerial vehicle path planning to provide a realistic optimal path in acquiring imagery for structure from motion (SfM) reconstructions and performing radiation surveys. This method will allow SfM reconstructions to occur accurately and with minimal flight time so that the reconstructions can be executed efficiently. An assumption is made that we have 3D point cloud data available prior to the flight. A discrete set of scan lines are proposed for the given area that are scored based on visibility of the scene. Our approach finds a time-efficient path and calculates trajectories between scan lines and over obstacles encountered along those scan lines. Aircraft dynamics are incorporated into the path planning algorithm as dynamic cost functions to create optimal imaging paths in minimum time. Simulations of the path planning algorithm are shown for an urban environment. We also present our approach for image-based terrain mapping, which is able to efficiently perform a 3D reconstruction of a large area without the use of GPS data.
Start and Stop Rules for Exploratory Path Analysis.
ERIC Educational Resources Information Center
Shipley, Bill
2002-01-01
Describes a method for choosing rejection probabilities for the tests of independence that are used in constraint-based algorithms of exploratory path analysis. The method consists of generating a Markov or semi-Markov model from the equivalence class represented by a partial ancestral graph and then testing the d-separation implications. (SLD)
Parallel dynamic programming for on-line flight path optimization
NASA Technical Reports Server (NTRS)
Slater, G. L.; Hu, K.
1989-01-01
Parallel systolic algorithms for dynamic programming(DP) and their respective hardware implementations are presented for a problem in on-line trajectory optimization. The method is applied to a model for helicopter flight path optimization through a complex constraint region. This problem has application to an air traffic control problem and also to a terrain following/threat avoidance problem.
Path Similarity Analysis: A Method for Quantifying Macromolecular Pathways.
Seyler, Sean L; Kumar, Avishek; Thorpe, M F; Beckstein, Oliver
2015-10-01
Diverse classes of proteins function through large-scale conformational changes and various sophisticated computational algorithms have been proposed to enhance sampling of these macromolecular transition paths. Because such paths are curves in a high-dimensional space, it has been difficult to quantitatively compare multiple paths, a necessary prerequisite to, for instance, assess the quality of different algorithms. We introduce a method named Path Similarity Analysis (PSA) that enables us to quantify the similarity between two arbitrary paths and extract the atomic-scale determinants responsible for their differences. PSA utilizes the full information available in 3N-dimensional configuration space trajectories by employing the Hausdorff or Fréchet metrics (adopted from computational geometry) to quantify the degree of similarity between piecewise-linear curves. It thus completely avoids relying on projections into low dimensional spaces, as used in traditional approaches. To elucidate the principles of PSA, we quantified the effect of path roughness induced by thermal fluctuations using a toy model system. Using, as an example, the closed-to-open transitions of the enzyme adenylate kinase (AdK) in its substrate-free form, we compared a range of protein transition path-generating algorithms. Molecular dynamics-based dynamic importance sampling (DIMS) MD and targeted MD (TMD) and the purely geometric FRODA (Framework Rigidity Optimized Dynamics Algorithm) were tested along with seven other methods publicly available on servers, including several based on the popular elastic network model (ENM). PSA with clustering revealed that paths produced by a given method are more similar to each other than to those from another method and, for instance, that the ENM-based methods produced relatively similar paths. PSA applied to ensembles of DIMS MD and FRODA trajectories of the conformational transition of diphtheria toxin, a particularly challenging example, showed that the geometry-based FRODA occasionally sampled the pathway space of force field-based DIMS MD. For the AdK transition, the new concept of a Hausdorff-pair map enabled us to extract the molecular structural determinants responsible for differences in pathways, namely a set of conserved salt bridges whose charge-charge interactions are fully modelled in DIMS MD but not in FRODA. PSA has the potential to enhance our understanding of transition path sampling methods, validate them, and to provide a new approach to analyzing conformational transitions. PMID:26488417
Energy aware path planning in complex four dimensional environments
NASA Astrophysics Data System (ADS)
Chakrabarty, Anjan
This dissertation addresses the problem of energy-aware path planning for small autonomous vehicles. While small autonomous vehicles can perform missions that are too risky (or infeasible) for larger vehicles, the missions are limited by the amount of energy that can be carried on board the vehicle. Path planning techniques that either minimize energy consumption or exploit energy available in the environment can thus increase range and endurance. Path planning is complicated by significant spatial (and potentially temporal) variations in the environment. While the main focus is on autonomous aircraft, this research also addresses autonomous ground vehicles. Range and endurance of small unmanned aerial vehicles (UAVs) can be greatly improved by utilizing energy from the atmosphere. Wind can be exploited to minimize energy consumption of a small UAV. But wind, like any other atmospheric component , is a space and time varying phenomenon. To effectively use wind for long range missions, both exploration and exploitation of wind is critical. This research presents a kinematics based tree algorithm which efficiently handles the four dimensional (three spatial and time) path planning problem. The Kinematic Tree algorithm provides a sequence of waypoints, airspeeds, heading and bank angle commands for each segment of the path. The planner is shown to be resolution complete and computationally efficient. Global optimality of the cost function cannot be claimed, as energy is gained from the atmosphere, making the cost function inadmissible. However the Kinematic Tree is shown to be optimal up to resolution if the cost function is admissible. Simulation results show the efficacy of this planning method for a glider in complex real wind data. Simulation results verify that the planner is able to extract energy from the atmosphere enabling long range missions. The Kinematic Tree planning framework, developed to minimize energy consumption of UAVs, is applied for path planning in ground robots. In traditional path planning problem the focus is on obstacle avoidance and navigation. The optimal Kinematic Tree algorithm named Kinematic Tree* is shown to find optimal paths to reach the destination while avoiding obstacles. A more challenging path planning scenario arises for planning in complex terrain. This research shows how the Kinematic Tree* algorithm can be extended to find minimum energy paths for a ground vehicle in difficult mountainous terrain.
Path Similarity Analysis: A Method for Quantifying Macromolecular Pathways
Seyler, Sean L.; Kumar, Avishek; Thorpe, M. F.; Beckstein, Oliver
2015-01-01
Diverse classes of proteins function through large-scale conformational changes and various sophisticated computational algorithms have been proposed to enhance sampling of these macromolecular transition paths. Because such paths are curves in a high-dimensional space, it has been difficult to quantitatively compare multiple paths, a necessary prerequisite to, for instance, assess the quality of different algorithms. We introduce a method named Path Similarity Analysis (PSA) that enables us to quantify the similarity between two arbitrary paths and extract the atomic-scale determinants responsible for their differences. PSA utilizes the full information available in 3N-dimensional configuration space trajectories by employing the Hausdorff or Fréchet metrics (adopted from computational geometry) to quantify the degree of similarity between piecewise-linear curves. It thus completely avoids relying on projections into low dimensional spaces, as used in traditional approaches. To elucidate the principles of PSA, we quantified the effect of path roughness induced by thermal fluctuations using a toy model system. Using, as an example, the closed-to-open transitions of the enzyme adenylate kinase (AdK) in its substrate-free form, we compared a range of protein transition path-generating algorithms. Molecular dynamics-based dynamic importance sampling (DIMS) MD and targeted MD (TMD) and the purely geometric FRODA (Framework Rigidity Optimized Dynamics Algorithm) were tested along with seven other methods publicly available on servers, including several based on the popular elastic network model (ENM). PSA with clustering revealed that paths produced by a given method are more similar to each other than to those from another method and, for instance, that the ENM-based methods produced relatively similar paths. PSA applied to ensembles of DIMS MD and FRODA trajectories of the conformational transition of diphtheria toxin, a particularly challenging example, showed that the geometry-based FRODA occasionally sampled the pathway space of force field-based DIMS MD. For the AdK transition, the new concept of a Hausdorff-pair map enabled us to extract the molecular structural determinants responsible for differences in pathways, namely a set of conserved salt bridges whose charge-charge interactions are fully modelled in DIMS MD but not in FRODA. PSA has the potential to enhance our understanding of transition path sampling methods, validate them, and to provide a new approach to analyzing conformational transitions. PMID:26488417
NASA Technical Reports Server (NTRS)
Horton, Kent; Huffman, Mitch; Eppic, Brian; White, Harrison
2005-01-01
Path Loss Measurements were obtained on three (3) GPS equipped 757 aircraft. Systems measured were Marker Beacon, LOC, VOR, VHF (3), Glide Slope, ATC (2), DME (2), TCAS, and GPS. This data will provide the basis for assessing the EMI (Electromagnetic Interference) safety margins of comm/nav (communication and navigation) systems to portable electronic device emissions. These Portable Electronic Devices (PEDs) include all devices operated in or around the aircraft by crews, passengers, servicing personnel, as well as the general public in the airport terminals. EMI assessment capability is an important step in determining if one system-wide PED EMI policy is appropriate. This data may also be used comparatively with theoretical analysis and computer modeling data sponsored by NASA Langley Research Center and others.
Assessment of weighted-least-squares-based gas path analysis
NASA Astrophysics Data System (ADS)
Doel, D. L.
1994-04-01
Manufacturers of gas turbines have searched for three decades for a reliable way to use gas path measurements to determine the health of jet engine components. They have been hindered in this pursuit by the quality of the measurements used to carry out the analysis. Engine manufacturers have chosen weighted-least-squares techniques to reduce the inaccuracy caused by sensor error. While these algorithms are clearly an improvement over the previous generation of gas path analysis programs, they still fail in many situations. This paper describes some of the failures and explores their relationship to the underlying analysis technique. It also describes difficulties in implementing a gas path analysis program. The paper concludes with an appraisal of weighted-least-squares-based gas path analysis.
NASA Astrophysics Data System (ADS)
Namdari, Mohammad Hasan; Hejazi, Seyed Reza; Palhang, Maziar
2016-06-01
In this paper, modified versions of quadtree/octree, as structures used in path planning, are proposed which we call them cornered quadtree/octree. Also a new method of creating paths in quadtrees/octrees, once quadrants/octants to be passed are determined, is proposed both to improve traveled distance and path smoothness. In proposed modified versions of quadtree/octree, four corner cells of quadrants and eight corner voxels of octants are also considered as nodes of the graph to be searched for finding the shortest path. This causes better quadrant/octant selection during graph search relative to simple quadtrees and octrees. On the other hand, after that all quadrants/octants are determined, multiple gateways are nominated between each two selected nodes and path is constructed by passing through the gateway which its selection leads in shorter and smoother path. Proposed structures in this paper alongside the utilized path construction approach, creates better paths in terms of path length than those created if simple trees are used, somehow equal to the quality of the achieved paths by framed trees, meanwhile interestingly, consumed time and memory in our proposed method are closer to the used time and memory if simple trees are used.
Regularization Paths for Cox’s Proportional Hazards Model via Coordinate Descent
Simon, Noah; Friedman, Jerome; Hastie, Trevor; Tibshirani, Rob
2015-01-01
We introduce a pathwise algorithm for the Cox proportional hazards model, regularized by convex combinations of ℓ1 and ℓ2 penalties (elastic net). Our algorithm fits via cyclical coordinate descent, and employs warm starts to find a solution along a regularization path. We demonstrate the efficacy of our algorithm on real and simulated data sets, and find considerable speedup between our algorithm and competing methods.
Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation
NASA Astrophysics Data System (ADS)
Jung, Dongwon
2007-12-01
Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way into military and law enforcement applications (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc. In this thesis we propose a new online multiresolution path planning algorithm for a small UAV with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment and the obstacles only in its vicinity. Information about far-away obstacles is also available, albeit less accurately. The proposed algorithm uses the fast lifting wavelet transform (FLWT) to get a multiresolution cell decomposition of the environment, whose dimension is commensurate to the on-board computational resources. A topological graph representation of the multiresolution cell decomposition is constructed efficiently, directly from the approximation and detail wavelet coefficients. Dynamic path planning is sequentially executed for an optimal path using the A* algorithm over the resulting graph. The proposed path planning algorithm is implemented on-line on a small autopilot. Comparisons with the standard D*-lite algorithm are also presented. We also investigate the problem of generating a smooth, planar reference path from a discrete optimal path. Upon the optimal path being represented as a sequence of cells in square geometry, we derive a smooth B-spline path that is constrained inside a channel that is induced by the geometry of the cells. To this end, a constrained optimization problem is formulated by setting up geometric linear constraints as well as boundary conditions. Subsequently, we construct B-spline path templates by solving a set of distinct optimization problems. For application in UAV motion planning, the path templates are incorporated to replace parts of the entire path by the smooth B-spline paths. Each path segment is stitched together while preserving continuity to obtain a final smooth reference path to be used for path following control. The path following control for a small fixed-wing UAV to track the prescribed smooth reference path is also addressed. Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. Finally, we implement the proposed hierarchical path control of a small UAV on the actual hardware platform, which is based on an 1/5 scale R/C model airframe (Decathlon) and the autopilot hardware and software. Based on the hardware-in-the-loop (HIL) simulation environment, the proposed hierarchical path control algorithm has been validated through on-line, real-time implementation on a small micro-controller. By a seamless integration of the control algorithms for path planning, path smoothing, and path following, it has been demonstrated that the UAV equipped with a small autopilot having limited computational resources manages to accomplish the path control objective to reach the goal while avoiding obstacles with minimal human intervention.
Light transport on path-space manifolds
NASA Astrophysics Data System (ADS)
Jakob, Wenzel Alban
The pervasive use of computer-generated graphics in our society has led to strict demands on their visual realism. Generally, users of rendering software want their images to look, in various ways, "real", which has been a key driving force towards methods that are based on the physics of light transport. Until recently, industrial practice has relied on a different set of methods that had comparatively little rigorous grounding in physics---but within the last decade, advances in rendering methods and computing power have come together to create a sudden and dramatic shift, in which physics-based methods that were formerly thought impractical have become the standard tool. As a consequence, considerable attention is now devoted towards making these methods as robust as possible. In this context, robustness refers to an algorithm's ability to process arbitrary input without large increases of the rendering time or degradation of the output image. One particularly challenging aspect of robustness entails simulating the precise interaction of light with all the materials that comprise the input scene. This dissertation focuses on one specific group of materials that has fundamentally been the most important source of difficulties in this process. Specular materials, such as glass windows, mirrors or smooth coatings (e.g. on finished wood), account for a significant percentage of the objects that surround us every day. It is perhaps surprising, then, that it is not well-understood how they can be accommodated within the theoretical framework that underlies some of the most sophisticated rendering methods available today. Many of these methods operate using a theoretical framework known as path space integration. But this framework makes no provisions for specular materials: to date, it is not clear how to write down a path space integral involving something as simple as a piece of glass. Although implementations can in practice still render these materials by side-stepping limitations of the theory, they often suffer from unusably slow convergence; improvements to this situation have been hampered by the lack of a thorough theoretical understanding. We address these problems by developing a new theory of path-space light transport which, for the first time, cleanly incorporates specular scattering into the standard framework. Most of the results obtained in the analysis of the ideally smooth case can also be generalized to rendering of glossy materials and volumetric scattering so that this dissertation also provides a powerful new set of tools for dealing with them. The basis of our approach is that each specular material interaction locally collapses the dimension of the space of light paths so that all relevant paths lie on a submanifold of path space. We analyze the high-dimensional differential geometry of this submanifold and use the resulting information to construct an algorithm that is able to "walk" around on it using a simple and efficient equation-solving iteration. This manifold walking algorithm then constitutes the key operation of a new type of Markov Chain Monte Carlo (MCMC) rendering method that computes lighting through very general families of paths that can involve arbitrary combinations of specular, near-specular, glossy, and diffuse surface interactions as well as isotropic or highly anisotropic volume scattering. We demonstrate our implementation on a range of challenging scenes and evaluate it against previous methods.
Interactive cutting path analysis programs
NASA Technical Reports Server (NTRS)
Weiner, J. M.; Williams, D. S.; Colley, S. R.
1975-01-01
The operation of numerically controlled machine tools is interactively simulated. Four programs were developed to graphically display the cutting paths for a Monarch lathe, Cintimatic mill, Strippit sheet metal punch, and the wiring path for a Standard wire wrap machine. These programs are run on a IMLAC PDS-ID graphic display system under the DOS-3 disk operating system. The cutting path analysis programs accept input via both paper tape and disk file.
Handbook of Feynman Path Integrals
NASA Astrophysics Data System (ADS)
Grosche, Christian, Steiner, Frank
The Handbook of Feynman Path Integrals appears just fifty years after Richard Feynman published his pioneering paper in 1948 entitled "Space-Time Approach to Non-Relativistic Quantum Mechanics", in which he introduced his new formulation of quantum mechanics in terms of path integrals. The book presents for the first time a comprehensive table of Feynman path integrals together with an extensive list of references; it will serve the reader as a thorough introduction to the theory of path integrals. As a reference book, it is unique in its scope and will be essential for many physicists, chemists and mathematicians working in different areas of research.
Identification of limit cycles in multi-nonlinearity, multiple path systems
NASA Technical Reports Server (NTRS)
Mitchell, J. R.; Barron, O. L.
1979-01-01
A method of analysis which identifies limit cycles in autonomous systems with multiple nonlinearities and multiple forward paths is presented. The FORTRAN code for implementing the Harmonic Balance Algorithm is reported. The FORTRAN code is used to identify limit cycles in multiple path and nonlinearity systems while retaining the effects of several harmonic components.
Algorithms and architectures for high performance analysis of semantic graphs.
Hendrickson, Bruce Alan
2005-09-01
Semantic graphs offer one promising avenue for intelligence analysis in homeland security. They provide a mechanism for describing a wide variety of relationships between entities of potential interest. The vertices are nouns of various types, e.g. people, organizations, events, etc. Edges in the graph represent different types of relationships between entities, e.g. 'is friends with', 'belongs-to', etc. Semantic graphs offer a number of potential advantages as a knowledge representation system. They allow information of different kinds, and collected in differing ways, to be combined in a seamless manner. A semantic graph is a very compressed representation of some of relationship information. It has been reported that the semantic graph can be two orders of magnitude smaller than the processed intelligence data. This allows for much larger portions of the data universe to be resident in computer memory. Many intelligence queries that are relevant to the terrorist threat are naturally expressed in the language of semantic graphs. One example is the search for 'interesting' relationships between two individuals or between an individual and an event, which can be phrased as a search for short paths in the graph. Another example is the search for an analyst-specified threat pattern, which can be cast as an instance of subgraph isomorphism. It is important to note than many kinds of analysis are not relationship based, so these are not good candidates for semantic graphs. Thus, a semantic graph should always be used in conjunction with traditional knowledge representation and interface methods. Operations that involve looking for chains of relationships (e.g. friend of a friend) are not efficiently executable in a traditional relational database. However, the semantic graph can be thought of as a pre-join of the database, and it is ideally suited for these kinds of operations. Researchers at Sandia National Laboratories are working to facilitate semantic graph analysis. Since intelligence datasets can be extremely large, the focus of this work is on the use of parallel computers. We have been working to develop scalable parallel algorithms that will be at the core of a semantic graph analysis infrastructure. Our work has involved two different thrusts, corresponding to two different computer architectures. The first architecture of interest is distributed memory, message passing computers. These machines are ubiquitous and affordable, but they are challenging targets for graph algorithms. Much of our distributed-memory work to date has been collaborative with researchers at Lawrence Livermore National Laboratory and has focused on finding short paths on distributed memory parallel machines. Our implementation on 32K processors of BlueGene/Light finds shortest paths between two specified vertices in just over a second for random graphs with 4 billion vertices.
A spectral image clustering algorithm based on ant colony optimization
NASA Astrophysics Data System (ADS)
Ashok, Luca; Messinger, David W.
2012-06-01
Ant Colony Optimization (ACO) is a computational method used for optimization problems. The ACO algorithm uses virtual ants to create candidate solutions that are represented by paths on a mathematical graph. We develop an algorithm using ACO that takes a multispectral image as input and outputs a cluster map denoting a cluster label for each pixel. The algorithm does this through identication of a series of one dimensional manifolds on the spectral data cloud via the ACO approach, and then associates pixels to these paths based on their spectral similarity to the paths. We apply the algorithm to multispectral imagery to divide the pixels into clusters based on their representation by a low dimensional manifold estimated by the best t ant path" through the data cloud. We present results from application of the algorithm to a multispectral Worldview-2 image and show that it produces useful cluster maps.
Critical Path-Based Thread Placement for NUMA Systems
Su, C Y; Li, D; Nikolopoulos, D S; Grove, M; Cameron, K; de Supinski, B R
2011-11-01
Multicore multiprocessors use a Non Uniform Memory Architecture (NUMA) to improve their scalability. However, NUMA introduces performance penalties due to remote memory accesses. Without efficiently managing data layout and thread mapping to cores, scientific applications, even if they are optimized for NUMA, may suffer performance loss. In this paper, we present algorithms and a runtime system that optimize the execution of OpenMP applications on NUMA architectures. By collecting information from hardware counters, the runtime system directs thread placement and reduces performance penalties by minimizing the critical path of OpenMP parallel regions. The runtime system uses a scalable algorithm that derives placement decisions with negligible overhead. We evaluate our algorithms and runtime system with four NPB applications implemented in OpenMP. On average the algorithms achieve between 8.13% and 25.68% performance improvement compared to the default Linux thread placement scheme. The algorithms miss the optimal thread placement in only 8.9% of the cases.
Atmospheric channel for bistatic optical communication: simulation algorithms
NASA Astrophysics Data System (ADS)
Belov, V. V.; Tarasenkov, M. V.
2015-11-01
Three algorithms of statistical simulation of the impulse response (IR) for the atmospheric optical communication channel are considered, including algorithms of local estimate and double local estimate and the algorithm suggested by us. On the example of a homogeneous molecular atmosphere it is demonstrated that algorithms of double local estimate and the suggested algorithm are more efficient than the algorithm of local estimate. For small optical path length, the proposed algorithm is more efficient, and for large optical path length, the algorithm of double local estimate is more efficient. Using the proposed algorithm, the communication quality is estimated for a particular case of the atmospheric channel under conditions of intermediate turbidity. The communication quality is characterized by the maximum IR, time of maximum IR, integral IR, and bandwidth of the communication channel. Calculations of these criteria demonstrated that communication is most efficient when the point of intersection of the directions toward the source and the receiver is most close to the source point.
Two arm robot path planning in a static environment using polytopes and string stretching. Thesis
NASA Technical Reports Server (NTRS)
Schima, Francis J., III
1990-01-01
The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.
Computing Path Tables for Quickest Multipaths In Computer Networks
Grimmell, W.C.
2004-12-21
We consider the transmission of a message from a source node to a terminal node in a network with n nodes and m links where the message is divided into parts and each part is transmitted over a different path in a set of paths from the source node to the terminal node. Here each link is characterized by a bandwidth and delay. The set of paths together with their transmission rates used for the message is referred to as a multipath. We present two algorithms that produce a minimum-end-to-end message delay multipath path table that, for every message length, specifies a multipath that will achieve the minimum end-to-end delay. The algorithms also generate a function that maps the minimum end-to-end message delay to the message length. The time complexities of the algorithms are O(n{sup 2}((n{sup 2}/logn) + m)min(D{sub max}, C{sub max})) and O(nm(C{sub max} + nmin(D{sub max}, C{sub max}))) when the link delays and bandwidths are non-negative integers. Here D{sub max} and C{sub max} are respectively the maximum link delay and maximum link bandwidth and C{sub max} and D{sub max} are greater than zero.
Collabortive Authoring of Walden's Paths
Li, Yuanling; Bogen II, Paul Logasa; Pogue, Daniel; Furuta, Richard Keith; Shipman, Frank Major
2012-01-01
This paper presents a prototype of an authoring tool to allow users to collaboratively build, annotate, manage, share and reuse collections of distributed resources from the World Wide Web. This extends on the Walden’s Path project’s work to help educators bring resources found on the World Wide Web into a linear contextualized structure. The introduction of collaborative authoring feature fosters collaborative learning activities through social interaction among participants, where participants can coauthor paths in groups. Besides, the prototype supports path sharing, branching and reusing; specifically, individual participant can contribute to the group with private collections of knowledge resources; paths completed by group can be shared among group members, such that participants can tailor, extend, reorder and/or replace nodes to have sub versions of shared paths for different information needs.
Quantum Adiabatic Algorithms and Large Spin Tunnelling
NASA Technical Reports Server (NTRS)
Boulatov, A.; Smelyanskiy, V. N.
2003-01-01
We provide a theoretical study of the quantum adiabatic evolution algorithm with different evolution paths proposed in this paper. The algorithm is applied to a random binary optimization problem (a version of the 3-Satisfiability problem) where the n-bit cost function is symmetric with respect to the permutation of individual bits. The evolution paths are produced, using the generic control Hamiltonians H (r) that preserve the bit symmetry of the underlying optimization problem. In the case where the ground state of H(0) coincides with the totally-symmetric state of an n-qubit system the algorithm dynamics is completely described in terms of the motion of a spin-n/2. We show that different control Hamiltonians can be parameterized by a set of independent parameters that are expansion coefficients of H (r) in a certain universal set of operators. Only one of these operators can be responsible for avoiding the tunnelling in the spin-n/2 system during the quantum adiabatic algorithm. We show that it is possible to select a coefficient for this operator that guarantees a polynomial complexity of the algorithm for all problem instances. We show that a successful evolution path of the algorithm always corresponds to the trajectory of a classical spin-n/2 and provide a complete characterization of such paths.
Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions
NASA Astrophysics Data System (ADS)
Wutich, A.; White, A. C.; White, D. D.; Larson, K. L.; Brewis, A.; Roberts, C.
2014-01-01
In this study, we examine how development status and water scarcity shape people's perceptions of "hard path" and "soft path" water solutions. Based on ethnographic research conducted in four semi-rural/peri-urban sites (in Bolivia, Fiji, New Zealand, and the US), we use content analysis to conduct statistical and thematic comparisons of interview data. Our results indicate clear differences associated with development status and, to a lesser extent, water scarcity. People in the two less developed sites were more likely to suggest hard path solutions, less likely to suggest soft path solutions, and more likely to see no path to solutions than people in the more developed sites. Thematically, people in the two less developed sites envisioned solutions that involve small-scale water infrastructure and decentralized, community-based solutions, while people in the more developed sites envisioned solutions that involve large-scale infrastructure and centralized, regulatory water solutions. People in the two water-scarce sites were less likely to suggest soft path solutions and more likely to see no path to solutions (but no more likely to suggest hard path solutions) than people in the water-rich sites. Thematically, people in the two water-rich sites seemed to perceive a wider array of unrealized potential soft path solutions than those in the water-scarce sites. On balance, our findings are encouraging in that they indicate that people are receptive to soft path solutions in a range of sites, even those with limited financial or water resources. Our research points to the need for more studies that investigate the social feasibility of soft path water solutions, particularly in sites with significant financial and natural resource constraints.
Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions
NASA Astrophysics Data System (ADS)
Wutich, A.; White, A. C.; Roberts, C. M.; White, D. D.; Larson, K. L.; Brewis, A.
2013-06-01
In this study, we examine how development status and water scarcity shape people's perceptions of "hard path" and "soft path" water solutions. Based on ethnographic research conducted in four semi-rural/peri-urban sites (in Bolivia, Fiji, New Zealand, and the US), we use content analysis to conduct statistical and thematic comparisons of interview data. Our results indicate clear differences based on development status and, to a lesser extent, water scarcity. People in less developed sites were more likely to suggest hard path solutions, less likely to suggest soft path solutions, and more likely to see no path to solutions than people in more developed sites. Thematically, people in less developed sites envisioned solutions that involve small-scale water infrastructure and decentralized, community based solutions, while people in more developed sites envisioned solutions that involve large-scale infrastructure and centralized, regulatory water solutions. People in water-scarce sites were less likely to suggest soft path solutions and more likely to see no path to solutions (but no more likely to suggest hard path solutions) than people in water-rich sites. Thematically, people in water-rich sites seemed to perceive a wider array of unrealized potential soft path solutions than those in water-scarce sites. On balance, our findings are encouraging in that they indicate that people are receptive to soft path solutions in a range of sites, even those with limited financial or water resources. Our research points to the need for more studies that investigate the social feasibility of soft path water solutions, particularly in sites with significant financial and natural resource constraints.
NASA Astrophysics Data System (ADS)
Abrams, Daniel S.
This thesis describes several new quantum algorithms. These include a polynomial time algorithm that uses a quantum fast Fourier transform to find eigenvalues and eigenvectors of a Hamiltonian operator, and that can be applied in cases (commonly found in ab initio physics and chemistry problems) for which all known classical algorithms require exponential time. Fast algorithms for simulating many body Fermi systems are also provided in both first and second quantized descriptions. An efficient quantum algorithm for anti-symmetrization is given as well as a detailed discussion of a simulation of the Hubbard model. In addition, quantum algorithms that calculate numerical integrals and various characteristics of stochastic processes are described. Two techniques are given, both of which obtain an exponential speed increase in comparison to the fastest known classical deterministic algorithms and a quadratic speed increase in comparison to classical Monte Carlo (probabilistic) methods. I derive a simpler and slightly faster version of Grover's mean algorithm, show how to apply quantum counting to the problem, develop some variations of these algorithms, and show how both (apparently distinct) approaches can be understood from the same unified framework. Finally, the relationship between physics and computation is explored in some more depth, and it is shown that computational complexity theory depends very sensitively on physical laws. In particular, it is shown that nonlinear quantum mechanics allows for the polynomial time solution of NP-complete and #P oracle problems. Using the Weinberg model as a simple example, the explicit construction of the necessary gates is derived from the underlying physics. Nonlinear quantum algorithms are also presented using Polchinski type nonlinearities which do not allow for superluminal communication. (Copies available exclusively from MIT Libraries, Rm. 14- 0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)
Optimizing the quantum adiabatic algorithm
NASA Astrophysics Data System (ADS)
Hu, Hongye; Wu, Biao
2016-01-01
In the quantum adiabatic algorithm, as the adiabatic parameter s (t ) changes slowly from zero to one with finite rate, a transition to excited states inevitably occurs and this induces an intrinsic computational error. We show that this computational error depends not only on the total computation time T but also on the time derivatives of the adiabatic parameter s (t ) at the beginning and the end of evolution. Previous work [A. T. Rezakhani, A. K. Pimachev, and D. A. Lidar, Phys. Rev. A 82, 052305 (2010), 10.1103/PhysRevA.82.052305] also suggested this result. With six typical paths, we systematically demonstrate how to optimally design an adiabatic path to reduce the computational errors. Our method has a clear physical picture and also explains the pattern of computational error. In this paper we focus on the quantum adiabatic search algorithm although our results are general.
Pon, Allison; Jewison, Timothy; Su, Yilu; Liang, Yongjie; Knox, Craig; Maciejewski, Adam; Wilson, Michael; Wishart, David S.
2015-01-01
PathWhiz (http://smpdb.ca/pathwhiz) is a web server designed to create colourful, visually pleasing and biologically accurate pathway diagrams that are both machine-readable and interactive. As a web server, PathWhiz is accessible from almost any place and compatible with essentially any operating system. It also houses a public library of pathways and pathway components that can be easily viewed and expanded upon by its users. PathWhiz allows users to readily generate biologically complex pathways by using a specially designed drawing palette to quickly render metabolites (including automated structure generation), proteins (including quaternary structures, covalent modifications and cofactors), nucleic acids, membranes, subcellular structures, cells, tissues and organs. Both small-molecule and protein/gene pathways can be constructed by combining multiple pathway processes such as reactions, interactions, binding events and transport activities. PathWhiz's pathway replication and propagation functions allow for existing pathways to be used to create new pathways or for existing pathways to be automatically propagated across species. PathWhiz pathways can be saved in BioPAX, SBGN-ML and SBML data exchange formats, as well as PNG, PWML, HTML image map or SVG images that can be viewed offline or explored using PathWhiz's interactive viewer. PathWhiz has been used to generate over 700 pathway diagrams for a number of popular databases including HMDB, DrugBank and SMPDB. PMID:25934797
Pon, Allison; Jewison, Timothy; Su, Yilu; Liang, Yongjie; Knox, Craig; Maciejewski, Adam; Wilson, Michael; Wishart, David S
2015-07-01
PathWhiz (http://smpdb.ca/pathwhiz) is a web server designed to create colourful, visually pleasing and biologically accurate pathway diagrams that are both machine-readable and interactive. As a web server, PathWhiz is accessible from almost any place and compatible with essentially any operating system. It also houses a public library of pathways and pathway components that can be easily viewed and expanded upon by its users. PathWhiz allows users to readily generate biologically complex pathways by using a specially designed drawing palette to quickly render metabolites (including automated structure generation), proteins (including quaternary structures, covalent modifications and cofactors), nucleic acids, membranes, subcellular structures, cells, tissues and organs. Both small-molecule and protein/gene pathways can be constructed by combining multiple pathway processes such as reactions, interactions, binding events and transport activities. PathWhiz's pathway replication and propagation functions allow for existing pathways to be used to create new pathways or for existing pathways to be automatically propagated across species. PathWhiz pathways can be saved in BioPAX, SBGN-ML and SBML data exchange formats, as well as PNG, PWML, HTML image map or SVG images that can be viewed offline or explored using PathWhiz's interactive viewer. PathWhiz has been used to generate over 700 pathway diagrams for a number of popular databases including HMDB, DrugBank and SMPDB. PMID:25934797
NASA Astrophysics Data System (ADS)
vanden-Eijnden, E.
The dynamical behavior of many systems arising in physics, chemistry, biology, etc. is dominated by rare but important transition events between long lived states. For over 70 years, transition state theory (TST) has provided the main theoretical framework for the description of these events [17,33,34]. Yet, while TST and evolutions thereof based on the reactive flux formalism [1, 5] (see also [30,31]) give an accurate estimate of the transition rate of a reaction, at least in principle, the theory tells very little in terms of the mechanism of this reaction. Recent advances, such as transition path sampling (TPS) of Bolhuis, Chandler, Dellago, and Geissler [3, 7] or the action method of Elber [15, 16], may seem to go beyond TST in that respect: these techniques allow indeed to sample the ensemble of reactive trajectories, i.e. the trajectories by which the reaction occurs. And yet, the reactive trajectories may again be rather uninformative about the mechanism of the reaction. This may sound paradoxical at first: what more than actual reactive trajectories could one need to understand a reaction? The problem, however, is that the reactive trajectories by themselves give only a very indirect information about the statistical properties of these trajectories. This is similar to why statistical mechanics is not simply a footnote in books about classical mechanics. What is the probability density that a trajectory be at a given location in state-space conditional on it being reactive? What is the probability current of these reactive trajectories? What is their rate of appearance? These are the questions of interest and they are not easy to answer directly from the ensemble of reactive trajectories. The right framework to tackle these questions also goes beyond standard equilibrium statistical mechanics because of the nontrivial bias that the very definition of the reactive trajectories imply - they must be involved in a reaction. The aim of this chapter is to introduce the reader to the probabilistic framework one can use to characterize the mechanism of a reaction and obtain the probability density, current, rate, etc. of the reactive trajectories.
Algorithm Estimates Microwave Water-Vapor Delay
NASA Technical Reports Server (NTRS)
Robinson, Steven E.
1989-01-01
Accuracy equals or exceeds conventional linear algorithms. "Profile" algorithm improved algorithm using water-vapor-radiometer data to produce estimates of microwave delays caused by water vapor in troposphere. Does not require site-specific and weather-dependent empirical parameters other than standard meteorological data, latitude, and altitude for use in conjunction with published standard atmospheric data. Basic premise of profile algorithm, wet-path delay approximated closely by solution to simplified version of nonlinear delay problem and generated numerically from each radiometer observation and simultaneous meteorological data.
NASA Technical Reports Server (NTRS)
Chandler, J. A.
1983-01-01
Long helical vent path cools and releases hot pyrotechnical gas that exits along its spiraling threads. Current design uses 1/4-28 threads with outer diameter of stud reduced by 0.025 in. (0.62 mm). To open or close gassampler bottle, pyrotechnic charges on either one side or other of valve cylinder are actuated. Gases vented slowly over long path are cool enough to present no ignition hazard. Vent used to meter flow in refrigeration, pneumaticcontrol, and fluid-control systems by appropriately adjusting size and length of vent path.
Evolvable neuronal paths: a novel basis for information and search in the brain.
Fernando, Chrisantha; Vasas, Vera; Szathmry, Ers; Husbands, Phil
2011-01-01
We propose a previously unrecognized kind of informational entity in the brain that is capable of acting as the basis for unlimited hereditary variation in neuronal networks. This unit is a path of activity through a network of neurons, analogous to a path taken through a hidden Markov model. To prove in principle the capabilities of this new kind of informational substrate, we show how a population of paths can be used as the hereditary material for a neuronally implemented genetic algorithm, (the swiss-army knife of black-box optimization techniques) which we have proposed elsewhere could operate at somatic timescales in the brain. We compare this to the same genetic algorithm that uses a standard 'genetic' informational substrate, i.e. non-overlapping discrete genotypes, on a range of optimization problems. A path evolution algorithm (PEA) is defined as any algorithm that implements natural selection of paths in a network substrate. A PEA is a previously unrecognized type of natural selection that is well suited for implementation by biological neuronal networks with structural plasticity. The important similarities and differences between a standard genetic algorithm and a PEA are considered. Whilst most experiments are conducted on an abstract network model, at the conclusion of the paper a slightly more realistic neuronal implementation of a PEA is outlined based on Izhikevich spiking neurons. Finally, experimental predictions are made for the identification of such informational paths in the brain. PMID:21887266
A Synthesized Heuristic Task Scheduling Algorithm
Dai, Yanyan; Zhang, Xiangli
2014-01-01
Aiming at the static task scheduling problems in heterogeneous environment, a heuristic task scheduling algorithm named HCPPEFT is proposed. In task prioritizing phase, there are three levels of priority in the algorithm to choose task. First, the critical tasks have the highest priority, secondly the tasks with longer path to exit task will be selected, and then algorithm will choose tasks with less predecessors to schedule. In resource selection phase, the algorithm is selected task duplication to reduce the interresource communication cost, besides forecasting the impact of an assignment for all children of the current task permits better decisions to be made in selecting resources. The algorithm proposed is compared with STDH, PEFT, and HEFT algorithms through randomly generated graphs and sets of task graphs. The experimental results show that the new algorithm can achieve better scheduling performance. PMID:25254244
A Trajectory Algorithm to Support En Route and Terminal Area Self-Spacing Concepts
NASA Technical Reports Server (NTRS)
Abbott, Terence S.
2007-01-01
This document describes an algorithm for the generation of a four dimensional aircraft trajectory. Input data for this algorithm are similar to an augmented Standard Terminal Arrival Route (STAR) with the augmentation in the form of altitude or speed crossing restrictions at waypoints on the route. Wind data at each waypoint are also inputs into this algorithm. The algorithm calculates the altitude, speed, along path distance, and along path time for each waypoint.
Optimal Path to a Laser Fusion Energy Power Plant
NASA Astrophysics Data System (ADS)
Bodner, Stephen
2013-10-01
There was a decision in the mid 1990s to attempt ignition using indirect-drive targets. It is now obvious that this decision was unjustified. The target design was too geometrically complex, too inefficient, and too far above plasma instability thresholds. By that same time, the mid 1990s, there had also been major advances in the direct-drive target concept. It also was not yet ready for a major test. Now, finally, because of significant advances in target designs, laser-target experiments, and laser development, the direct-drive fusion concept is ready for significant enhancements in funding, on the path to commercial fusion energy. There are two laser contenders. A KrF laser is attractive because of its shortest wavelength, broad bandwidth, and superb beam uniformity. A frequency-converted DPSSL has the disadvantage of inherently narrow bandwidth and longer wavelength, but by combining many beams in parallel one might be able to produce at the target the equivalent of an ultra-broad bandwidth. One or both of these lasers may also meet all of the engineering and economic requirements for a reactor. It is time to further develop and evaluate these two lasers as rep-rate systems, in preparation for a future high-gain fusion test.
The Edge-Disjoint Path Problem on Random Graphs by Message-Passing
2015-01-01
We present a message-passing algorithm to solve a series of edge-disjoint path problems on graphs based on the zero-temperature cavity equations. Edge-disjoint paths problems are important in the general context of routing, that can be defined by incorporating under a unique framework both traffic optimization and total path length minimization. The computation of the cavity equations can be performed efficiently by exploiting a mapping of a generalized edge-disjoint path problem on a star graph onto a weighted maximum matching problem. We perform extensive numerical simulations on random graphs of various types to test the performance both in terms of path length minimization and maximization of the number of accommodated paths. In addition, we test the performance on benchmark instances on various graphs by comparison with state-of-the-art algorithms and results found in the literature. Our message-passing algorithm always outperforms the others in terms of the number of accommodated paths when considering non trivial instances (otherwise it gives the same trivial results). Remarkably, the largest improvement in performance with respect to the other methods employed is found in the case of benchmarks with meshes, where the validity hypothesis behind message-passing is expected to worsen. In these cases, even though the exact message-passing equations do not converge, by introducing a reinforcement parameter to force convergence towards a sub optimal solution, we were able to always outperform the other algorithms with a peak of 27% performance improvement in terms of accommodated paths. On random graphs, we numerically observe two separated regimes: one in which all paths can be accommodated and one in which this is not possible. We also investigate the behavior of both the number of paths to be accommodated and their minimum total length. PMID:26710102
Virtual Door-Based Coverage Path Planning for Mobile Robot
NASA Astrophysics Data System (ADS)
Myung, Hyun; Jeon, Hae-Min; Jeong, Woo-Yeon; Bang, Seok-Won
This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.
Paths in the Conformational Space of Biopolymers
NASA Astrophysics Data System (ADS)
Durup, J.; Ech-Cherif El-Kettani, M. A.
1991-10-01
This lecture starts with a survey of the present state of knowledge on the topology of potential hypersurfaces of proteins, on transitions in conformational space, and on harmonic and quasi-harmonic methods of analysis of sub-state properties. The concepts of deterministic vs ergodic behaviour of the paths actually followed in conformational space are discussed. The possible connection between selectivity (or ``accuracy'') in enzyme catalysis and the time structure of conformational transitions is shown. In a second part, two different methods used by the authors for theoretical computation of conformational paths linking known crystallographic structures in citrate synthase are commented: an implementation of Elber and Karplus' chain algorithm, and a new method which we named directed dynamics. In connection with the ``multiple minima problem'', the occurrence of lower and upper bounds in the temperatures used in molecular dynamics searches of conformational minima is discussed with emphasis on their dependence with respect to the effective number of degrees of freedom in the conformational space investigated. Finally, a hint on the total transition time is given.
Conditions for transmission path analysis in energy distribution models
NASA Astrophysics Data System (ADS)
Aragonès, Àngels; Guasch, Oriol
2016-02-01
In this work, we explore under which conditions transmission path analysis (TPA) developed for statistical energy analysis (SEA) can be applied to the less restrictive energy distribution (ED) models. It is shown that TPA can be extended without problems to proper-SEA systems whereas the situation is not so clear for quasi-SEA systems. In the general case, it has been found that a TPA can always be performed on an ED model if its inverse influence energy coefficient (EIC) matrix turns to have negative off-diagonal entries. If this condition is satisfied, it can be shown that the inverse EIC matrix automatically becomes an M-matrix. An ED graph can then be defined for it and use can be made of graph theory ranking path algorithms, previously developed for SEA systems, to classify dominant paths in ED models. A small mechanical system consisting of connected plates has been used to illustrate some of the exposed theoretical results.
Daylighting design overlays for equidistant sun-path projections
Selkowitz, S.
1981-08-01
Projections of the Sun's daily and seasonal paths frequently are used to solve building design problems involving site obstructions and shading of fenestration. In the United States, equidistant projections are perhaps the most widely used (compared to other sunpath projections) because of the commercial availability of a complete set of sun-path diagrams for a range of useful latitudes. This paper describes the development of a set of overlays designed for use with sun-path projections to predict illumination on any building surface throughout the year for standard climatological conditions. Illumination is calculated for clear and overcast skies and for direct sunlight using algorithms recommended by the Commission Internationale de l'Eclairage (CIE). Values for illumination incident upon the surface, as well as transmitted through single and double glazing, can be calculated. Similar overlays for solar radiation are being developed.
A Dynamic Navigation Algorithm Considering Network Disruptions
NASA Astrophysics Data System (ADS)
Jiang, J.; Wu, L.
2014-04-01
In traffic network, link disruptions or recoveries caused by sudden accidents, bad weather and traffic congestion, lead to significant increase or decrease in travel times on some network links. Similar situation also occurs in real-time emergency evacuation plan in indoor areas. As the dynamic nature of real-time network information generates better navigation solutions than the static one, a real-time dynamic navigation algorithm for emergency evacuation with stochastic disruptions or recoveries in the network is presented in this paper. Compared with traditional existing algorithms, this new algorithm adjusts pre-existing path to a new optimal one according to the changing link travel time. With real-time network information, it can provide the optional path quickly to adapt to the rapid changing network properties. Theoretical analysis and experimental results demonstrate that this proposed algorithm performs a high time efficiency to get exact solution and indirect information can be calculated in spare time.
Schiefer, H. Peters, S.; Plasswilm, L.; Ingulfsen, N.; Kluckert, J.
2015-03-15
Purpose: For stereotactic radiosurgery, the AAPM Report No. 54 [AAPM Task Group 42 (AAPM, 1995)] requires the overall stability of the isocenter (couch, gantry, and collimator) to be within a 1 mm radius. In reality, a rotating system has no rigid axis and thus no isocenter point which is fixed in space. As a consequence, the isocenter concept is reviewed here. It is the aim to develop a measurement method following the revised definitions. Methods: The mechanical isocenter is defined here by the point which rotates on the shortest path in the room coordinate system. The path is labeled as “isocenter path.” Its center of gravity is assumed to be the mechanical isocenter. Following this definition, an image-based and radiation-free measurement method was developed. Multiple marker pairs in a plane perpendicular to the assumed gantry rotation axis of a linear accelerator are imaged with a smartphone application from several rotation angles. Each marker pair represents an independent measuring system. The room coordinates of the isocenter path and the mechanical isocenter are calculated based on the marker coordinates. The presented measurement method is by this means strictly focused on the mechanical isocenter. Results: The measurement result is available virtually immediately following completion of measurement. When 12 independent measurement systems are evaluated, the standard deviations of the isocenter path points and mechanical isocenter coordinates are 0.02 and 0.002 mm, respectively. Conclusions: The measurement is highly accurate, time efficient, and simple to adapt. It is therefore suitable for regular checks of the mechanical isocenter characteristics of the gantry and collimator rotation axis. When the isocenter path is reproducible and its extent is in the range of the needed geometrical accuracy, it should be taken into account in the planning process. This is especially true for stereotactic treatments and radiosurgery.
Visibility measurements along extended paths over the ocean surface
NASA Astrophysics Data System (ADS)
Shields, Janet E.; Baker, Justin G.; Karr, Monette E.; Johnson, Richard W.; Burden, Art R.
2005-08-01
A new system is being developed for measurement of visibility and scattering characteristics in the visible and NIR wavelengths over extended paths. This is being developed to better understand transmission properties over long horizontal near-surface propagation paths over the ocean. The instrument, a Multispectral Scattering Imager, is designed to acquire calibrated radiance images in several wavelengths over extended paths. From measurements of the radiance near the horizon and the radiance of dark targets, combined with measurements of the inherent properties of the dark targets, visibility and effective scattering coefficient over the integrated path can be determined. The technique uses the Koschmeider equations for radiative transfer, and it allows for correction of sensor characteristics such as non-linearity and of non-zero target reflectance. The technique is based in part on the Horizon Scanning Imager, a visibility system developed in the 1990's by the Marine Physical Lab. However, it utilizes better imaging systems than were available at that time, as well as improvements to the visibility and scattering algorithms. Initial experiments are designed to test the strengths and weaknesses of the system, and to provide multispectral visible band results. These results will be used for modeling and statistical studies with respect to simultaneous measurements by a suite of other instruments. This talk will present an overview of the system and algorithms, as well as initial experimental results.
Robust Path Planning and Feedback Design Under Stochastic Uncertainty
NASA Technical Reports Server (NTRS)
Blackmore, Lars
2008-01-01
Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.
Some Recent Progress for Approximation Algorithms
NASA Astrophysics Data System (ADS)
Kawarabayashi, Ken-ichi
We survey some recent progress on approximation algorithms. Our main focus is the following two problems that have some recent breakthroughs; the edge-disjoint paths problem and the graph coloring problem. These breakthroughs involve the following three ingredients that are quite central in approximation algorithms: (1) Combinatorial (graph theoretical) approach, (2) LP based approach and (3) Semi-definite programming approach. We also sketch how they are used to obtain recent development.
Synthetic aperture inversion for arbitrary flight paths and nonflat topography.
Nolan, Clifford J; Cheney, Margaret
2003-01-01
This paper considers synthetic aperture radar (SAR) and other synthetic aperture imaging systems in which a backscattered wave is measured from positions along an arbitrary (known) flight path. The received backscattered signals are used to produce an image of the terrain. We assume a single-scattering model for the radar data, and we assume that the ground topography is known but not necessarily flat. We focus on cases in which the antenna footprint is so large that the standard narrow-beam algorithms are not useful. We show that certain artifacts can be avoided if the antenna and antenna footprint avoid particular relationships with the ground topography. We give an explicit backprojection imaging algorithm that corrects for the ground topography, flight path, antenna beam pattern, source waveform, and other geometrical factors. For the case of a non-directional antenna, the image produced by the above algorithm contains artifacts. For this case, we analyze the strength of the artifacts relative to the strength of the true image. The analysis shows that the artifacts can be somewhat suppressed by increasing the frequency, integration time, and the curvature of the flight path. PMID:18237975
MotifMiner: A Table Driven Greedy Algorithm for DNA Motif Mining
NASA Astrophysics Data System (ADS)
Seeja, K. R.; Alam, M. A.; Jain, S. K.
DNA motif discovery is a much explored problem in functional genomics. This paper describes a table driven greedy algorithm for discovering regulatory motifs in the promoter sequences of co-expressed genes. The proposed algorithm searches both DNA strands for the common patterns or motifs. The inputs to the algorithm are set of promoter sequences, the motif length and minimum Information Content. The algorithm generates subsequences of given length from the shortest input promoter sequence. It stores these subsequences and their reverse complements in a table. Then it searches the remaining sequences for good matches of these subsequences. The Information Content score is used to measure the goodness of the motifs. The algorithm has been tested with synthetic data and real data. The results are found promising. The algorithm could discover meaningful motifs from the muscle specific regulatory sequences.
A Graph Algorithm To Solve a Project Evaluation Research Task with the TI-89.
ERIC Educational Resources Information Center
Martin, Rosario; Tortosa, Leandro
1999-01-01
Presents an algorithm to compute the critical path in a graph representing a project evaluation research task. Once the algorithm is executed, the last matrix obtained permits the visualization of some important information which leads to the determination of the weight of the critical path. (Author/MM)
Path planning for robotic truss assembly
NASA Technical Reports Server (NTRS)
Sanderson, Arthur C.
1993-01-01
A new Potential Fields approach to the robotic path planning problem is proposed and implemented. Our approach, which is based on one originally proposed by Munger, computes an incremental joint vector based upon attraction to a goal and repulsion from obstacles. By repetitively adding and computing these 'steps', it is hoped (but not guaranteed) that the robot will reach its goal. An attractive force exerted by the goal is found by solving for the the minimum norm solution to the linear Jacobian equation. A repulsive force between obstacles and the robot's links is used to avoid collisions. Its magnitude is inversely proportional to the distance. Together, these forces make the goal the global minimum potential point, but local minima can stop the robot from ever reaching that point. Our approach improves on a basic, potential field paradigm developed by Munger by using an active, adaptive field - what we will call a 'flexible' potential field. Active fields are stronger when objects move towards one another and weaker when they move apart. An adaptive field's strength is individually tailored to be just strong enough to avoid any collision. In addition to the local planner, a global planning algorithm helps the planner to avoid local field minima by providing subgoals. These subgoals are based on the obstacles which caused the local planner to fail. A best-first search algorithm A* is used for graph search.
Quantifying the reliability of dispersal paths in connectivity networks.
Hock, Karlo; Mumby, Peter J
2015-04-01
Many biological systems, from fragmented landscapes to host populations, can be represented as networks of connected habitat patches. Links between patches in these connectivity networks can represent equally diverse processes, from individuals moving through the landscape to pathogen transmissions or successive colonization events in metapopulations. Any of these processes can be characterized as stochastic, with functional links among patches that exist with various levels of certainty. This stochasticity then needs to be reflected in the algorithms that aim to predict the dispersal routes in these networks. Here we adapt the concept of reliability to characterize the likelihood that a specific path will be used for dispersal in a probabilistic connectivity network. The most reliable of the paths that connect two patches will then identify the most likely sequence of intermediate steps between these patches. Path reliability will be sensitive to targeted disruptions of individual links that form the path, and this can then be used to plan the interventions aimed at either preserving or disrupting the dispersal along that path. The proposed approach is general, and can be used to identify the most likely dispersal routes in various contexts, such as predicting patterns of migrations, colonizations, invasions and epidemics. PMID:25716187
Booth, Thomas E; Gubernatis, James E
2008-01-01
We present a procedure that in many cases enables the Monte Carlo sampling of states of a large system from the sampling of states of a smaller system. We illustrate this procedure, which we call the sewing algorithm, for sampling states from the transfer matrix of the two-dimensional Ising model.
NASA Technical Reports Server (NTRS)
Barth, Timothy J.; Lomax, Harvard
1987-01-01
The past decade has seen considerable activity in algorithm development for the Navier-Stokes equations. This has resulted in a wide variety of useful new techniques. Some examples for the numerical solution of the Navier-Stokes equations are presented, divided into two parts. One is devoted to the incompressible Navier-Stokes equations, and the other to the compressible form.
Two Paths Diverged: Exploring Trajectories, Protocols, and Dynamic Phases
NASA Astrophysics Data System (ADS)
Gingrich, Todd Robert
Using tools of statistical mechanics, it is routine to average over the distribution of microscopic configurations to obtain equilibrium free energies. These free energies teach us about the most likely molecular arrangements and the probability of observing deviations from the norm. Frequently, it is necessary to interrogate the probability not just of static arrangements, but of dynamical events, in which case analogous statistical mechanical tools may be applied to study the distribution of molecular trajectories. Numerical study of these trajectory spaces requires algorithms which efficiently sample the possible trajectories. We study in detail one such Monte Carlo algorithm, transition path sampling, and use a non- equilibrium statistical mechanical perspective to illuminate why the algorithm cannot easily be adapted to study some problems involving long-timescale dynamics. Algorithmically generating highly-correlated trajectories, a necessity for transition path sampling, grows exponentially more challenging for longer trajectories unless the dynamics is strongly-guided by the "noise history", the sequence of random numbers representing the noise terms in the stochastic dynamics. Langevin dynamics of Weeks-Chandler-Andersen (WCA) particles in two dimensions lacks this strong noise guidance, so it is challenging to use transition path sampling to study rare dynamical events in long trajectories of WCA particles. The spin flip dynamics of a two-dimensional Ising model, on the other hand, can be guided by the noise history to achieve efficient path sampling. For systems that can be efficiently sampled with path sampling, we show that it is possible to simultaneously sample both the paths and the (potentially vast) space of non-equilibrium protocols to efficiently learn how rate constants vary with protocols and to identify low-dissipation protocols. When high-dimensional molecular dynamics can be coarse-grained and represented by a simplified dynamics on a low-dimensional state space, the trajectory space may also be analytically studied using methods of large deviation theory. We review these methods and introduce a simple class of dynamical models whose dynamical fluctuations we compute exactly. The simplest such model is an asymmetric random walker on a one-dimensional ring with a single heterogeneous link connecting two sites of the ring. We derive conditions for the existence of a dynamic phase transition, which separates two dynamical phases---one localized and the other delocalized. The presence of distinct classes trajectories results in profoundly non-Gaussian fluctuations in dynamical quantities. We discuss the implications of such large dynamical fluctuations in the context of simple stochastic models for biological growth.
Multiple paths in complex tasks
NASA Technical Reports Server (NTRS)
Galanter, Eugene; Wiegand, Thomas; Mark, Gloria
1987-01-01
The relationship between utility judgments of subtask paths and the utility of the task as a whole was examined. The convergent validation procedure is based on the assumption that measurements of the same quantity done with different methods should covary. The utility measures of the subtasks were obtained during the performance of an aircraft flight controller navigation task. Analyses helped decide among various models of subtask utility combination, whether the utility ratings of subtask paths predict the whole tasks utility rating, and indirectly, whether judgmental models need to include the equivalent of cognitive noise.
Optical Path, Phase, and Interference
NASA Astrophysics Data System (ADS)
Newburgh, Ronald
2005-11-01
A powerful tool in wave optics is the concept of optical path length, a notion usually introduced with Fermat's principle.1-3 The analysis of Fermat's principle requires the application of the calculus of variations and the concept of an extremum, ideas too advanced for beginning students. However, the concept has proven its usefulness in the analysis4 of interference experiments such as those of Michelson and Fabry-Perot. In this paper we shall show how optical path length can aid in the analysis of a modified two-slit Young experiment.
Speckle imaging over horizontal paths
NASA Astrophysics Data System (ADS)
Carrano, Carmen J.
2002-09-01
Atmospheric aberrations reduce the resolution and contrast in surveillance images recorded over horizontal or slant paths. This paper describes our recent horizontal and slant-path imaging experiments of extended scenes as well as the results obtained using speckle imaging. The experiments were performed with an 8-inch diameter telescope placed on either a rooftop or hillside and cover ranges of interest from 0.5 km up to 10 km. The scenery includes resolution targets, people, vehicles, and other structures. The improvement in image quality using speckle imaging is dramatic in many cases, and depends significantly upon the atmospheric conditions. We quantify resolution improvement through modulation transfer function measurement comparisons.
Speckle Imaging Over Horizontal Paths
Carrano, C J
2002-05-21
Atmospheric aberrations reduce the resolution and contrast in surveillance images recorded over horizontal or slant paths. This paper describes our recent horizontal and slant path imaging experiments of extended scenes as well as the results obtained using speckle imaging. The experiments were performed with an 8-inch diameter telescope placed on either a rooftop or hillside and cover ranges of interest from 0.5 km up to 10 km. The scenery includes resolution targets, people, vehicles, and other structures. The improvement in image quality using speckle imaging is dramatic in many cases, and depends significantly upon the atmospheric conditions. We quantify resolution improvement through modulation transfer function measurement comparisons.
Autonomous Path-Following by Approximate Inverse Dynamics and Vector Field Prediction
NASA Astrophysics Data System (ADS)
Gerlach, Adam R.
In this dissertation, we develop two general frameworks for the navigation and control of autonomous vehicles that must follow predefined paths. These frameworks are designed such that they inherently provide accurate navigation and control of a wide class of systems directly from a model of the vehicle's dynamics. The first framework introduced is the inverse dynamics by radial basis function (IDRBF) algorithm, which exploits the best approximation property of radial basis functions to accurately approximate the inverse dynamics of non-linear systems. This approximation is then used with the known, desired state of the system at a future time point to generate the system input that must be applied to reach the desired state in the specified time interval. The IDRBF algorithm is then tested on two non-linear dynamic systems, and accurate path-following is demonstrated. The second framework introduced is the predictive vector field (PVF) algorithm. The PVF algorithm uses the equations of motion and constraints of the system to predict a set of reachable states by sampling the system's configuration space. By finding and minimizing a continuous mapping between the system's configuration space and a cost space relating the reachable states of the system with a vector field (VF), one can determine the system inputs required to follow the VF. The PVF algorithm is then tested on the Dubin's vehicle and aircraft models, and accurate path-following is demonstrated. As the PVF algorithm's performance is dependent on the quality of the underlying system model and VF, algorithms are introduced for automatically generating VFs for constant altitude paths defined by a series of waypoints and for handling modeling uncertainties. Additionally, we provide a mathematical proof showing that this method can automatically produce VFs of the desired form. To handle modeling uncertainties, we enhance the PVF algorithm with the Gaussian process machine learning framework, enabling the algorithm to learn the true system model, online, in the presence of measurement noise. We call this algorithm the PVF-GP algorithm. To demonstrate the PVF-GP algorithm, we compare its performance to the PVF algorithm after introducing modeling uncertainties to the underlying system model and introducing an external wind disturbance. Test results show the PVF-GP algorithm offers dramatically improved path-following performance over the non-learning PVF algorithm.
Quantum hyperparallel algorithm for matrix multiplication.
Zhang, Xin-Ding; Zhang, Xiao-Ming; Xue, Zheng-Yuan
2016-01-01
Hyperentangled states, entangled states with more than one degree of freedom, are considered as promising resource in quantum computation. Here we present a hyperparallel quantum algorithm for matrix multiplication with time complexity O(N(2)), which is better than the best known classical algorithm. In our scheme, an N dimensional vector is mapped to the state of a single source, which is separated to N paths. With the assistance of hyperentangled states, the inner product of two vectors can be calculated with a time complexity independent of dimension N. Our algorithm shows that hyperparallel quantum computation may provide a useful tool in quantum machine learning and "big data" analysis. PMID:27125586
Perceived Shrinkage of Motion Paths
ERIC Educational Resources Information Center
Sinico, Michele; Parovel, Giulia; Casco, Clara; Anstis, Stuart
2009-01-01
We show that human observers strongly underestimate a linear or circular trajectory that a luminous spot follows in the dark. At slow speeds, observers are relatively accurate, but, as the speed increases, the size of the path is progressively underestimated, by up to 35%. The underestimation imposes little memory load and does not require
Career Paths in Environmental Sciences
Career paths, current and future, in the environmental sciences will be discussed, based on experiences and observations during the author's 40 + years in the field. An emphasis will be placed on the need for integrated, transdisciplinary systems thinking approaches toward achie...
ERIC Educational Resources Information Center
Arredondo, Michael
2002-01-01
The author describes the difficulties of achieving his life-long dream of going to an Ivy League college, and how his Shawnee grandfather advised him to acquire the white man's skills and bring them back to his people. He advises young Native Americans to choose the more difficult, yet honorable path of serving their own people. (TD)
Critical Path-Based Thread Placement for NUMA Systems
Su, Chun-Yi; Li, Dong; Nikolopoulos, Dimitrios; Grove, Matthew; Cameron, Kirk W.; de Supinski, Bronis R.
2012-01-01
Multicore multiprocessors use Non Uniform Memory Architecture (NUMA) to improve their scalability. However,NUMA introduces performance penalties due to remote memory accesses. Without efficiently managing data layout and thread mapping to cores, scientific applications, even if they are optimized for NUMA, may suffer performance loss. In this paper, we present an algorithm that optimizes the placement of OpenMP threads on NUMA processors. By collecting information from hardware counters and defining new metrics to capture the effects of thread placement, the algorithm reduces NUMA performance penalty by minimizing the critical path of OpenMP parallel regions and by avoiding local memory resource contention. We evaluate our algorithm with NPB benchmarks and achieve performance improvement between 8.13% and 25.68%, compared to the OS default scheduling.
Finding the complete path and weight enumerators of convolutional codes
NASA Technical Reports Server (NTRS)
Onyszchuk, I.
1990-01-01
A method for obtaining the complete path enumerator T(D, L, I) of a convolutional code is described. A system of algebraic equations is solved, using a new algorithm for computing determinants, to obtain T(D, L, I) for the (7,1/2) NASA standard code. Generating functions, derived from T(D, L, I) are used to upper bound Viterbi decoder error rates. This technique is currently feasible for constraint length K less than 10 codes. A practical, fast algorithm is presented for computing the leading nonzero coefficients of the generating functions used to bound the performance of constraint length K less than 20 codes. Code profiles with about 50 nonzero coefficients are obtained with this algorithm for the experimental K = 15, rate 1/4, code in the Galileo mission and for the proposed K = 15, rate 1/6, 2-dB code.
Guidewire path determination for intravascular applications.
Cardoso, Fernando M; Furuie, Sergio S
2016-05-01
Vascular diseases are among the major causes of death in developed countries and the treatment of those pathologies may require endovascular interventions, in which the physician utilizes guidewires and catheters through the vascular system to reach the injured vessel region. Several computational studies related to endovascular procedures are in constant development. Thus, predicting the guidewire path may be of great value for both physicians and researchers. However, attaining good accuracy and precision is still an important issue. We propose a method to simulate and predict the guidewire and catheter path inside a blood vessel based on equilibrium of a new set of forces, which leads, iteratively, to the minimum energy configuration. This technique was validated with phantoms using a ∅0.33 mm stainless steel guidewire and compared to other relevant methods in the literature. This method presented RMS error 0.30 mm and 0.97 mm, which represents less than 2% and 20% of the lumen diameter of the phantom, in 2D and 3D cases, respectively. The proposed technique presented better results than other methods from the literature, which were included in this work for comparison. Moreover, the algorithm presented low variation ([Formula: see text]) due to the variation of the input parameters. Therefore, even for a wide range of different parameters configuration, similar results are presented for the proposed approach, which is an important feature and makes this technique easier to work with. Since this method is based on basic physics, it is simple, intuitive, easy to learn and easy to adapt. PMID:26176911
WDM Multicast Tree Construction Algorithms and Their Comparative Evaluations
NASA Astrophysics Data System (ADS)
Makabe, Tsutomu; Mikoshi, Taiju; Takenaka, Toyofumi
We propose novel tree construction algorithms for multicast communication in photonic networks. Since multicast communications consume many more link resources than unicast communications, effective algorithms for route selection and wavelength assignment are required. We propose a novel tree construction algorithm, called the Weighted Steiner Tree (WST) algorithm and a variation of the WST algorithm, called the Composite Weighted Steiner Tree (CWST) algorithm. Because these algorithms are based on the Steiner Tree algorithm, link resources among source and destination pairs tend to be commonly used and link utilization ratios are improved. Because of this, these algorithms can accept many more multicast requests than other multicast tree construction algorithms based on the Dijkstra algorithm. However, under certain delay constraints, the blocking characteristics of the proposed Weighted Steiner Tree algorithm deteriorate since some light paths between source and destinations use many hops and cannot satisfy the delay constraint. In order to adapt the approach to the delay-sensitive environments, we have devised the Composite Weighted Steiner Tree algorithm comprising the Weighted Steiner Tree algorithm and the Dijkstra algorithm for use in a delay constrained environment such as an IPTV application. In this paper, we also give the results of simulation experiments which demonstrate the superiority of the proposed Composite Weighted Steiner Tree algorithm compared with the Distributed Minimum Hop Tree (DMHT) algorithm, from the viewpoint of the light-tree request blocking.
Efficient DNA sticker algorithms for NP-complete graph problems
NASA Astrophysics Data System (ADS)
Zimmermann, Karl-Heinz
2002-04-01
Adleman's successful solution of a seven-vertex instance of the NP-complete Hamiltonian directed path problem by a DNA algorithm initiated the field of biomolecular computing. We provide DNA algorithms based on the sticker model to compute all k-cliques, independent k-sets, Hamiltonian paths, and Steiner trees with respect to a given edge or vertex set. The algorithms determine not merely the existence of a solution but yield all solutions (if any). For an undirected graph with n vertices and m edges, the running time of the algorithms is linear in n+ m. For this, the sticker algorithms make use of small combinatorial input libraries instead of commonly used large libraries. The described algorithms are entirely theoretical in nature. They may become very useful in practice, when further advances in biotechnology lead to an efficient implementation of the sticker model.
Path statistics, memory, and coarse-graining of continuous-time random walks on networks
NASA Astrophysics Data System (ADS)
Manhart, Michael; Kion-Crosby, Willow; Morozov, Alexandre V.
2015-12-01
Continuous-time random walks (CTRWs) on discrete state spaces, ranging from regular lattices to complex networks, are ubiquitous across physics, chemistry, and biology. Models with coarse-grained states (for example, those employed in studies of molecular kinetics) or spatial disorder can give rise to memory and non-exponential distributions of waiting times and first-passage statistics. However, existing methods for analyzing CTRWs on complex energy landscapes do not address these effects. Here we use statistical mechanics of the nonequilibrium path ensemble to characterize first-passage CTRWs on networks with arbitrary connectivity, energy landscape, and waiting time distributions. Our approach can be applied to calculating higher moments (beyond the mean) of path length, time, and action, as well as statistics of any conservative or non-conservative force along a path. For homogeneous networks, we derive exact relations between length and time moments, quantifying the validity of approximating a continuous-time process with its discrete-time projection. For more general models, we obtain recursion relations, reminiscent of transfer matrix and exact enumeration techniques, to efficiently calculate path statistics numerically. We have implemented our algorithm in PathMAN (Path Matrix Algorithm for Networks), a Python script that users can apply to their model of choice. We demonstrate the algorithm on a few representative examples which underscore the importance of non-exponential distributions, memory, and coarse-graining in CTRWs.
Path statistics, memory, and coarse-graining of continuous-time random walks on networks.
Manhart, Michael; Kion-Crosby, Willow; Morozov, Alexandre V
2015-12-01
Continuous-time random walks (CTRWs) on discrete state spaces, ranging from regular lattices to complex networks, are ubiquitous across physics, chemistry, and biology. Models with coarse-grained states (for example, those employed in studies of molecular kinetics) or spatial disorder can give rise to memory and non-exponential distributions of waiting times and first-passage statistics. However, existing methods for analyzing CTRWs on complex energy landscapes do not address these effects. Here we use statistical mechanics of the nonequilibrium path ensemble to characterize first-passage CTRWs on networks with arbitrary connectivity, energy landscape, and waiting time distributions. Our approach can be applied to calculating higher moments (beyond the mean) of path length, time, and action, as well as statistics of any conservative or non-conservative force along a path. For homogeneous networks, we derive exact relations between length and time moments, quantifying the validity of approximating a continuous-time process with its discrete-time projection. For more general models, we obtain recursion relations, reminiscent of transfer matrix and exact enumeration techniques, to efficiently calculate path statistics numerically. We have implemented our algorithm in PathMAN (Path Matrix Algorithm for Networks), a Python script that users can apply to their model of choice. We demonstrate the algorithm on a few representative examples which underscore the importance of non-exponential distributions, memory, and coarse-graining in CTRWs. PMID:26646868
Research on global path planning based on ant colony optimization for AUV
NASA Astrophysics Data System (ADS)
Wang, Hong-Jian; Xiong, Wei
2009-03-01
Path planning is an important issue for autonomous underwater vehicles (AUVs) traversing an unknown environment such as a sea floor, a jungle, or the outer celestial planets. For this paper, global path planning using large-scale chart data was studied, and the principles of ant colony optimization (ACO) were applied. This paper introduced the idea of a visibility graph based on the grid workspace model. It also brought a series of pheromone updating rules for the ACO planning algorithm. The operational steps of the ACO algorithm are proposed as a model for a global path planning method for AUV. To mimic the process of smoothing a planned path, a cutting operator and an insertion-point operator were designed. Simulation results demonstrated that the ACO algorithm is suitable for global path planning. The system has many advantages, including that the operating path of the AUV can be quickly optimized, and it is shorter, safer, and smoother. The prototype system successfully demonstrated the feasibility of the concept, proving it can be applied to surveys of unstructured unmanned environments.
Kinetic constrained optimization of the golf swing hub path.
Nesbit, Steven M; McGinnis, Ryan S
2014-12-01
This study details an optimization of the golf swing, where the hand path and club angular trajectories are manipulated. The optimization goal was to maximize club head velocity at impact within the interaction kinetic limitations (force, torque, work, and power) of the golfer as determined through the analysis of a typical swing using a two-dimensional dynamic model. The study was applied to four subjects with diverse swing capabilities and styles. It was determined that it is possible for all subjects to increase their club head velocity at impact within their respective kinetic limitations through combined modifications to their respective hand path and club angular trajectories. The manner of the modifications, the degree of velocity improvement, the amount of kinetic reduction, and the associated kinetic limitation quantities were subject dependent. By artificially minimizing selected kinetic inputs within the optimization algorithm, it was possible to identify swing trajectory characteristics that indicated relative kinetic weaknesses of a subject. Practical implications are offered based upon the findings of the study. Key PointsThe hand path trajectory is an important characteristic of the golf swing and greatly affects club head velocity and golfer/club energy transfer.It is possible to increase the energy transfer from the golfer to the club by modifying the hand path and swing trajectories without increasing the kinetic output demands on the golfer.It is possible to identify relative kinetic output strengths and weakness of a golfer through assessment of the hand path and swing trajectories.Increasing any one of the kinetic outputs of the golfer can potentially increase the club head velocity at impact.The hand path trajectory has important influences over the club swing trajectory. PMID:25435779
Kinetic Constrained Optimization of the Golf Swing Hub Path
Nesbit, Steven M.; McGinnis, Ryan S.
2014-01-01
This study details an optimization of the golf swing, where the hand path and club angular trajectories are manipulated. The optimization goal was to maximize club head velocity at impact within the interaction kinetic limitations (force, torque, work, and power) of the golfer as determined through the analysis of a typical swing using a two-dimensional dynamic model. The study was applied to four subjects with diverse swing capabilities and styles. It was determined that it is possible for all subjects to increase their club head velocity at impact within their respective kinetic limitations through combined modifications to their respective hand path and club angular trajectories. The manner of the modifications, the degree of velocity improvement, the amount of kinetic reduction, and the associated kinetic limitation quantities were subject dependent. By artificially minimizing selected kinetic inputs within the optimization algorithm, it was possible to identify swing trajectory characteristics that indicated relative kinetic weaknesses of a subject. Practical implications are offered based upon the findings of the study. Key Points The hand path trajectory is an important characteristic of the golf swing and greatly affects club head velocity and golfer/club energy transfer. It is possible to increase the energy transfer from the golfer to the club by modifying the hand path and swing trajectories without increasing the kinetic output demands on the golfer. It is possible to identify relative kinetic output strengths and weakness of a golfer through assessment of the hand path and swing trajectories. Increasing any one of the kinetic outputs of the golfer can potentially increase the club head velocity at impact. The hand path trajectory has important influences over the club swing trajectory. PMID:25435779
Image Categorization by Learning a Propagated Graphlet Path.
Zhang, Luming; Hong, Richang; Gao, Yue; Ji, Rongrong; Dai, Qionghai; Li, Xuelong
2016-03-01
Spatial pyramid matching is a standard architecture for categorical image retrieval. However, its performance is largely limited by the prespecified rectangular spatial regions when pooling local descriptors. In this paper, we propose to learn object-shaped and directional receptive fields for image categorization. In particular, different objects in an image are seamlessly constructed by superpixels, while the direction captures human gaze shifting path. By generating a number of superpixels in each image, we construct graphlets to describe different objects. They function as the object-shaped receptive fields for image comparison. Due to the huge number of graphlets in an image, a saliency-guided graphlet selection algorithm is proposed. A manifold embedding algorithm encodes graphlets with the semantics of training image tags. Then, we derive a manifold propagation to calculate the postembedding graphlets by leveraging visual saliency maps. The sequentially propagated graphlets constitute a path that mimics human gaze shifting. Finally, we use the learned graphlet path as receptive fields for local image descriptor pooling. The local descriptors from similar receptive fields of pairwise images more significantly contribute to the final image kernel. Thorough experiments demonstrate the advantage of our approach. PMID:26625422
Benchmarking Gas Path Diagnostic Methods: A Public Approach
NASA Technical Reports Server (NTRS)
Simon, Donald L.; Bird, Jeff; Davison, Craig; Volponi, Al; Iverson, R. Eugene
2008-01-01
Recent technology reviews have identified the need for objective assessments of engine health management (EHM) technology. The need is two-fold: technology developers require relevant data and problems to design and validate new algorithms and techniques while engine system integrators and operators need practical tools to direct development and then evaluate the effectiveness of proposed solutions. This paper presents a publicly available gas path diagnostic benchmark problem that has been developed by the Propulsion and Power Systems Panel of The Technical Cooperation Program (TTCP) to help address these needs. The problem is coded in MATLAB (The MathWorks, Inc.) and coupled with a non-linear turbofan engine simulation to produce "snap-shot" measurements, with relevant noise levels, as if collected from a fleet of engines over their lifetime of use. Each engine within the fleet will experience unique operating and deterioration profiles, and may encounter randomly occurring relevant gas path faults including sensor, actuator and component faults. The challenge to the EHM community is to develop gas path diagnostic algorithms to reliably perform fault detection and isolation. An example solution to the benchmark problem is provided along with associated evaluation metrics. A plan is presented to disseminate this benchmark problem to the engine health management technical community and invite technology solutions.
Harmonic-based gain compensation method in optic sensors with separate light paths.
Perciante, César Daniel; Ferrari, José A; Garbusi, Eugenio
2003-06-10
We describe a method for the compensation of gain unbalance in optical sensors with separate light path that involve two separate detection and conditioning electronic devices. The method is based on the digital measurement of harmonics of the output intensities from each path by means of the fast Fourier transform algorithm. The quotient of the amplitude of harmonics allows us to calculate the unbalance between paths and to compensate for it. In particular, this method can be applied electric power and current sensors that use Faraday and Pockels cells to measure current and voltage, respectively. PMID:12816322
Squeezed states and path integrals
NASA Technical Reports Server (NTRS)
Daubechies, Ingrid; Klauder, John R.
1992-01-01
The continuous-time regularization scheme for defining phase-space path integrals is briefly reviewed as a method to define a quantization procedure that is completely covariant under all smooth canonical coordinate transformations. As an illustration of this method, a limited set of transformations is discussed that have an image in the set of the usual squeezed states. It is noteworthy that even this limited set of transformations offers new possibilities for stationary phase approximations to quantum mechanical propagators.
NASA Astrophysics Data System (ADS)
A. Mol'kov, A.; S. Dolin, L.
2016-01-01
We study the possibility of determining the inherent hydrooptical characteristics of water using the underwater-vision means. Analytical models of the instantaneous and accumulated images of the underwater solar path, which is formed by direct, singly scattered, and multiply scattered light, are proposed. The optical depths at which the contribution of the water-scattered light to the apparent radiance of the surface becomes predominant are estimated using numerical simulation. Algorithms for reconstructing the water scattering and attenuation coefficients from the accumulated image of the underwater solar path are developed. The results of the algorithm evaluation using the data of a full-scale experiment are presented.
Accelerating cleanup: Paths to closure
Edwards, C.
1998-06-30
This document was previously referred to as the Draft 2006 Plan. As part of the DOE`s national strategy, the Richland Operations Office`s Paths to Closure summarizes an integrated path forward for environmental cleanup at the Hanford Site. The Hanford Site underwent a concerted effort between 1994 and 1996 to accelerate the cleanup of the Site. These efforts are reflected in the current Site Baseline. This document describes the current Site Baseline and suggests strategies for further improvements in scope, schedule and cost. The Environmental Management program decided to change the name of the draft strategy and the document describing it in response to a series of stakeholder concerns, including the practicality of achieving widespread cleanup by 2006. Also, EM was concerned that calling the document a plan could be misconstrued to be a proposal by DOE or a decision-making document. The change in name, however, does not diminish the 2006 vision. To that end, Paths to Closure retains a focus on 2006, which serves as a point in time around which objectives and goals are established.
Live minimal path for interactive segmentation of medical images
NASA Astrophysics Data System (ADS)
Chartrand, Gabriel; Tang, An; Chav, Ramnada; Cresson, Thierry; Chantrel, Steeve; De Guise, Jacques A.
2015-03-01
Medical image segmentation is nowadays required for medical device development and in a growing number of clinical and research applications. Since dedicated automatic segmentation methods are not always available, generic and efficient interactive tools can alleviate the burden of manual segmentation. In this paper we propose an interactive segmentation tool based on image warping and minimal path segmentation that is efficient for a wide variety of segmentation tasks. While the user roughly delineates the desired organs boundary, a narrow band along the cursors path is straightened, providing an ideal subspace for feature aligned filtering and minimal path algorithm. Once the segmentation is performed on the narrow band, the path is warped back onto the original image, precisely delineating the desired structure. This tool was found to have a highly intuitive dynamic behavior. It is especially efficient against misleading edges and required only coarse interaction from the user to achieve good precision. The proposed segmentation method was tested for 10 difficult liver segmentations on CT and MRI images, and the resulting 2D overlap Dice coefficient was 99% on average..
Elastic geodesic paths in shape space of parameterized surfaces.
Kurtek, Sebastian; Klassen, Eric; Gore, John C; Ding, Zhaohua; Srivastava, Anuj
2012-09-01
This paper presents a novel Riemannian framework for shape analysis of parameterized surfaces. In particular, it provides efficient algorithms for computing geodesic paths which, in turn, are important for comparing, matching, and deforming surfaces. The novelty of this framework is that geodesics are invariant to the parameterizations of surfaces and other shape-preserving transformations of surfaces. The basic idea is to formulate a space of embedded surfaces (surfaces seen as embeddings of a unit sphere in IR3) and impose a Riemannian metric on it in such a way that the reparameterization group acts on this space by isometries. Under this framework, we solve two optimization problems. One, given any two surfaces at arbitrary rotations and parameterizations, we use a path-straightening approach to find a geodesic path between them under the chosen metric. Second, by modifying a technique presented in [25], we solve for the optimal rotation and parameterization (registration) between surfaces. Their combined solution provides an efficient mechanism for computing geodesic paths in shape spaces of parameterized surfaces. We illustrate these ideas using examples from shape analysis of anatomical structures and other general surfaces. PMID:22144521
Electron Inelastic-Mean-Free-Path Database
National Institute of Standards and Technology Data Gateway
SRD 71 NIST Electron Inelastic-Mean-Free-Path Database (PC database, no charge) This database provides values of electron inelastic mean free paths (IMFPs) for use in quantitative surface analyses by AES and XPS.
Time optimal paths for high speed maneuvering
Reister, D.B.; Lenhart, S.M.
1993-01-01
Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.
Kinematics, controls, and path planning results for a redundant manipulator
NASA Technical Reports Server (NTRS)
Gretz, Bruce; Tilley, Scott W.
1989-01-01
The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.
Anisotropic Distributions on Manifolds: Template Estimation and Most Probable Paths.
Sommer, Stefan
2015-01-01
We use anisotropic diffusion processes to generalize normal distributions to manifolds and to construct a framework for likelihood estimation of template and covariance structure from manifold valued data. The procedure avoids the linearization that arise when first estimating a mean or template before performing PCA in the tangent space of the mean. We derive flow equations for the most probable paths reaching sampled data points, and we use the paths that are generally not geodesics for estimating the likelihood of the model. In contrast to existing template estimation approaches, accounting for anisotropy thus results in an algorithm that is not based on geodesic distances. To illustrate the effect of anisotropy and to point to further applications, we present experiments with anisotropic distributions on both the sphere and finite dimensional LDDMM manifolds arising in the landmark matching problem. PMID:26221674
Multiple paths to encephalization and technical civilizations.
Schwartzman, David; Middendorf, George
2011-12-01
We propose consideration of at least two possible evolutionary paths for the emergence of intelligent life with the potential for technical civilization. The first is the path via encephalization of homeothermic animals; the second is the path to swarm intelligence of so-called superorganisms, in particular the social insects. The path to each appears to be facilitated by environmental change: homeothermic animals by decreased climatic temperature and for swarm intelligence by increased oxygen levels. PMID:22139517
Multiple Paths to Encephalization and Technical Civilizations
NASA Astrophysics Data System (ADS)
Schwartzman, David; Middendorf, George
2011-12-01
We propose consideration of at least two possible evolutionary paths for the emergence of intelligent life with the potential for technical civilization. The first is the path via encephalization of homeothermic animals; the second is the path to swarm intelligence of so-called superorganisms, in particular the social insects. The path to each appears to be facilitated by environmental change: homeothermic animals by decreased climatic temperature and for swarm intelligence by increased oxygen levels.
A Revised Trajectory Algorithm to Support En Route and Terminal Area Self-Spacing Concepts
NASA Technical Reports Server (NTRS)
Abbott, Terence S.
2010-01-01
This document describes an algorithm for the generation of a four dimensional trajectory. Input data for this algorithm are similar to an augmented Standard Terminal Arrival (STAR) with the augmentation in the form of altitude or speed crossing restrictions at waypoints on the route. This version of the algorithm accommodates descent Mach values that are different from the cruise Mach values. Wind data at each waypoint are also inputs into this algorithm. The algorithm calculates the altitude, speed, along path distance, and along path time for each waypoint.
Evaluation of the Learning Path Specification
ERIC Educational Resources Information Center
Janssen, Jose; Berlanga, Adriana J.; Koper, Rob
2011-01-01
Flexible lifelong learning requires that learners can compare and select learning paths that best meet individual needs, not just in terms of learning goals, but also in terms of planning, costs etc. To this end a learning path specification was developed, which describes both the contents and the structure of any learning path, be it formal,…
Evaluation of the Learning Path Specification
ERIC Educational Resources Information Center
Janssen, Jose; Berlanga, Adriana J.; Koper, Rob
2011-01-01
Flexible lifelong learning requires that learners can compare and select learning paths that best meet individual needs, not just in terms of learning goals, but also in terms of planning, costs etc. To this end a learning path specification was developed, which describes both the contents and the structure of any learning path, be it formal,
Efficient enumeration of monocyclic chemical graphs with given path frequencies
2014-01-01
Background The enumeration of chemical graphs (molecular graphs) satisfying given constraints is one of the fundamental problems in chemoinformatics and bioinformatics because it leads to a variety of useful applications including structure determination and development of novel chemical compounds. Results We consider the problem of enumerating chemical graphs with monocyclic structure (a graph structure that contains exactly one cycle) from a given set of feature vectors, where a feature vector represents the frequency of the prescribed paths in a chemical compound to be constructed and the set is specified by a pair of upper and lower feature vectors. To enumerate all tree-like (acyclic) chemical graphs from a given set of feature vectors, Shimizu et al. and Suzuki et al. proposed efficient branch-and-bound algorithms based on a fast tree enumeration algorithm. In this study, we devise a novel method for extending these algorithms to enumeration of chemical graphs with monocyclic structure by designing a fast algorithm for testing uniqueness. The results of computational experiments reveal that the computational efficiency of the new algorithm is as good as those for enumeration of tree-like chemical compounds. Conclusions We succeed in expanding the class of chemical graphs that are able to be enumerated efficiently. PMID:24955135
Characterizing the Evolutionary Path(s) to Early Homo
Schroeder, Lauren; Roseman, Charles C.; Cheverud, James M.; Ackermann, Rebecca R.
2014-01-01
Numerous studies suggest that the transition from Australopithecus to Homo was characterized by evolutionary innovation, resulting in the emergence and coexistence of a diversity of forms. However, the evolutionary processes necessary to drive such a transition have not been examined. Here, we apply statistical tests developed from quantitative evolutionary theory to assess whether morphological differences among late australopith and early Homo species in Africa have been shaped by natural selection. Where selection is demonstrated, we identify aspects of morphology that were most likely under selective pressure, and determine the nature (type, rate) of that selection. Results demonstrate that selection must be invoked to explain an Au. africanus—Au. sediba—Homo transition, while transitions from late australopiths to various early Homo species that exclude Au. sediba can be achieved through drift alone. Rate tests indicate that selection is largely directional, acting to rapidly differentiate these taxa. Reconstructions of patterns of directional selection needed to drive the Au. africanus—Au. sediba—Homo transition suggest that selection would have affected all regions of the skull. These results may indicate that an evolutionary path to Homo without Au. sediba is the simpler path and/or provide evidence that this pathway involved more reliance on cultural adaptations to cope with environmental change. PMID:25470780
Evaluation of guidewire path reproducibility.
Schafer, Sebastian; Hoffmann, Kenneth R; Nol, Peter B; Ionita, Ciprian N; Dmochowski, Jacek
2008-05-01
The number of minimally invasive vascular interventions is increasing. In these interventions, a variety of devices are directed to and placed at the site of intervention. The device used in almost all of these interventions is the guidewire, acting as a monorail for all devices which are delivered to the intervention site. However, even with the guidewire in place, clinicians still experience difficulties during the interventions. As a first step toward understanding these difficulties and facilitating guidewire and device guidance, we have investigated the reproducibility of the final paths of the guidewire in vessel phantom models on different factors: user, materials and geometry. Three vessel phantoms (vessel diameters approximately 4 mm) were constructed having tortuousity similar to the internal carotid artery from silicon tubing and encased in Sylgard elastomer. Several trained users repeatedly passed two guidewires of different flexibility through the phantoms under pulsatile flow conditions. After the guidewire had been placed, rotational c-arm image sequences were acquired (9 in. II mode, 0.185 mm pixel size), and the phantom and guidewire were reconstructed (512(3), 0.288 mm voxel size). The reconstructed volumes were aligned. The centerlines of the guidewire and the phantom vessel were then determined using region-growing techniques. Guidewire paths appear similar across users but not across materials. The average root mean square difference of the repeated placement was 0.17 +/- 0.02 mm (plastic-coated guidewire), 0.73 +/- 0.55 mm (steel guidewire) and 1.15 +/- 0.65 mm (steel versus plastic-coated). For a given guidewire, these results indicate that the guidewire path is relatively reproducible in shape and position. PMID:18561663
Communication path for extreme environments
NASA Technical Reports Server (NTRS)
Jorgensen, Charles C. (Inventor); Betts, Bradley J. (Inventor)
2010-01-01
Methods and systems for using one or more radio frequency identification devices (RFIDs), or other suitable signal transmitters and/or receivers, to provide a sensor information communication path, to provide location and/or spatial orientation information for an emergency service worker (ESW), to provide an ESW escape route, to indicate a direction from an ESW to an ES appliance, to provide updated information on a region or structure that presents an extreme environment (fire, hazardous fluid leak, underwater, nuclear, etc.) in which an ESW works, and to provide accumulated thermal load or thermal breakdown information on one or more locations in the region.
Multiple order common path spectrometer
NASA Technical Reports Server (NTRS)
Newbury, Amy B. (Inventor)
2010-01-01
The present invention relates to a dispersive spectrometer. The spectrometer allows detection of multiple orders of light on a single focal plane array by splitting the orders spatially using a dichroic assembly. A conventional dispersion mechanism such as a defraction grating disperses the light spectrally. As a result, multiple wavelength orders can be imaged on a single focal plane array of limited spectral extent, doubling (or more) the number of spectral channels as compared to a conventional spectrometer. In addition, this is achieved in a common path device.
Relations between Coherence and Path Information.
Bagan, Emilio; Bergou, János A; Cottrell, Seth S; Hillery, Mark
2016-04-22
We find two relations between coherence and path information in a multipath interferometer. The first builds on earlier results for the two-path interferometer, which used minimum-error state discrimination between detector states to provide the path information. For visibility, which was used in the two-path case, we substitute a recently defined l_{1} measure of quantum coherence. The second is an entropic relation in which the path information is characterized by the mutual information between the detector states and the outcome of the measurement performed on them, and the coherence measure is one based on relative entropy. PMID:27152780
Relations between Coherence and Path Information
NASA Astrophysics Data System (ADS)
Bagan, Emilio; Bergou, János A.; Cottrell, Seth S.; Hillery, Mark
2016-04-01
We find two relations between coherence and path information in a multipath interferometer. The first builds on earlier results for the two-path interferometer, which used minimum-error state discrimination between detector states to provide the path information. For visibility, which was used in the two-path case, we substitute a recently defined l1 measure of quantum coherence. The second is an entropic relation in which the path information is characterized by the mutual information between the detector states and the outcome of the measurement performed on them, and the coherence measure is one based on relative entropy.
Computing LS factor by runoff paths on TIN
NASA Astrophysics Data System (ADS)
Kavka, Petr; Krasa, Josef; Bek, Stanislav
2013-04-01
The article shows results of topographic factor (the LS factor in USLE) derivation enhancement focused on detailed Airborne Laser Scanning (ALS) based DEMs. It describes a flow paths generation technique using triangulated irregular network (TIN) for terrain morphology description, which is not yet established in soil loss computations. This technique was compared with other procedures of flow direction and flow paths generation based on commonly used raster model (DEM). These overland flow characteristics together with therefrom derived flow accumulation are significant inputs for many scientific models. Particularly they are used in all USLE-based soil erosion models, from which USLE2D, RUSLE3D, Watem/Sedem or USPED can be named as the most acknowledged. Flow routing characteristics are also essential parameters in physically based hydrological and soil erosion models like HEC-HMS, Wepp, Erosion3D, LISEM, SMODERP, etc. Mentioned models are based on regular raster grids, where the identification of runoff direction is problematic. The most common method is Steepest descent (one directional flow), which corresponds well with the concentration of surface runoff into concentrated flow. The Steepest descent algorithm for the flow routing doesn't provide satisfying results, it often creates parallel and narrow flow lines while not respecting real morphological conditions. To overcome this problem, other methods (such as Flux Decomposition, Multiple flow, Deterministic Infinity algorithm etc.) separate the outflow into several components. This approach leads to unrealistic diffusion propagation of the runoff and makes it impossible to be used for simulation of dominant morphological features, such as artificial rills, hedges, sediment traps etc. The modern methods of mapping ground elevations, especially ALS, provide very detailed models even for large river basins, including morphological details. New algorithms for derivation a runoff direction have been developed as a part of the Atlas DMT software package. Starting points for the flow direction generation remain in regular grid (allowing easy contributing area assessment) while realistic direction paths are generated directly at TIN. It turns out that this procedure allows predicting actual runoff paths while ensuring the continuity of the potential runoff by sophisticated filling of sinks and flats. The algorithm is being implemented in a new USLE based erosion model ATLAS EROSION aiming to enhance designing of technical (morphological) soil erosion measures using detailed DEMs. The research has been supported by the research project No. TA02020647 " Atlas EROZE - a modern tool for soil erosion assessment".
Experimental and analytical study of secondary path variations in active engine mounts
NASA Astrophysics Data System (ADS)
Hausberg, Fabian; Scheiblegger, Christian; Pfeffer, Peter; Plöchl, Manfred; Hecker, Simon; Rupp, Markus
2015-03-01
Active engine mounts (AEMs) provide an effective solution to further improve the acoustic and vibrational comfort of passenger cars. Typically, adaptive feedforward control algorithms, e.g., the filtered-x-least-mean-squares (FxLMS) algorithm, are applied to cancel disturbing engine vibrations. These algorithms require an accurate estimate of the AEM active dynamic characteristics, also known as the secondary path, in order to guarantee control performance and stability. This paper focuses on the experimental and theoretical study of secondary path variations in AEMs. The impact of three major influences, namely nonlinearity, change of preload and component temperature, on the AEM active dynamic characteristics is experimentally analyzed. The obtained test results are theoretically investigated with a linear AEM model which incorporates an appropriate description for elastomeric components. A special experimental set-up extends the model validation of the active dynamic characteristics to higher frequencies up to 400 Hz. The theoretical and experimental results show that significant secondary path variations are merely observed in the frequency range of the AEM actuator's resonance frequency. These variations mainly result from the change of the component temperature. As the stability of the algorithm is primarily affected by the actuator's resonance frequency, the findings of this paper facilitate the design of AEMs with simpler adaptive feedforward algorithms. From a practical point of view it may further be concluded that algorithmic countermeasures against instability are only necessary in the frequency range of the AEM actuator's resonance frequency.
DTI-based maximum density path analysis and classification of Alzheimer’s disease
Nir, Talia M.; Villalon-Reina, Julio E.; Prasad, Gautam; Jahanshad, Neda; Joshi, Shantanu H.; Toga, Arthur W.; Bernstein, Matt A.; Jack, Clifford R.; Weiner, Michael W.; Thompson, Paul M.
2014-01-01
Characterizing brain changes in Alzheimer’s disease (AD) is important for patient prognosis, and for assessing brain deterioration in clinical trials. In this diffusion tensor imaging study, we used a new fiber-tract modeling method to investigate white matter integrity in 50 elderly controls (CTL), 113 people with mild cognitive impairment (MCI), and 37 AD patients. After clustering tractography using an ROI atlas, we used a shortest path graph search through each bundle’s fiber density map to derive maximum density paths (MDPs), which we registered across subjects. We calculated the fractional anisotropy (FA) and mean diffusivity (MD) along all MDPs and found significant MD and FA differences between AD patients and CTL subjects as well as MD differences between CTL and late MCI subjects. MD and FA were also associated with widely used clinical scores (MMSE). As an MDP is a compact, low-dimensional representation of white matter organization, we tested the utility of DTI measures along these MDPs as features for support vector machine (SVM) based classification of AD. PMID:25444597
Completely automated open-path FT-IR spectrometry.
Griffiths, Peter R; Shao, Limin; Leytem, April B
2009-01-01
Atmospheric analysis by open-path Fourier-transform infrared (OP/FT-IR) spectrometry has been possible for over two decades but has not been widely used because of the limitations of the software of commercial instruments. In this paper, we describe the current state-of-the-art of the hardware and software that constitutes a contemporary OP/FT-IR spectrometer. We then describe advances that have been made in our laboratory that have enabled many of the limitations of this type of instrument to be overcome. These include not having to acquire a single-beam background spectrum that compensates for absorption features in the spectra of atmospheric water vapor and carbon dioxide. Instead, an easily measured "short path-length" background spectrum is used for calculation of each absorbance spectrum that is measured over a long path-length. To accomplish this goal, the algorithm used to calculate the concentrations of trace atmospheric molecules was changed from classical least-squares regression (CLS) to partial least-squares regression (PLS). For calibration, OP/FT-IR spectra are measured in pristine air over a wide variety of path-lengths, temperatures, and humidities, ratioed against a short-path background, and converted to absorbance; the reference spectrum of each analyte is then multiplied by randomly selected coefficients and added to these background spectra. Automatic baseline correction for small molecules with resolved rotational fine structure, such as ammonia and methane, is effected using wavelet transforms. A novel method of correcting for the effect of the nonlinear response of mercury cadmium telluride detectors is also incorporated. Finally, target factor analysis may be used to detect the onset of a given pollutant when its concentration exceeds a certain threshold. In this way, the concentration of atmospheric species has been obtained from OP/FT-IR spectra measured at intervals of 1 min over a period of many hours with no operator intervention. PMID:18946664
VLSI architectures for the new (T,L) algorithm
NASA Astrophysics Data System (ADS)
Bengough, P. A.; Simmons, S. J.
Trellis coding techniques have seen much use in error correction codes for space and satellite applications. When long sequences of data are encoded, the number of possible paths through the trellis becomes great and a trellis search algorithm must be used to determine the path that best matches the received data sequence. The (T,L) algorithm is a new reduced complexity trellis search algorithm, applicable to data sequence estimation in digital communications, that adapts to changing channel conditions. Its simplicity and inherent parallelism suits it well for very large scale integration (VLSI) implementation. A number of alternative VLSI architectures are presented which can be used to realize this algorithm. While one uses a simple nonsorting structure, two other sorting designs based on parallel insertion and weavesorting algorithms are proposed. The area-time performance of the various architectures is compared.
Fontana, W.
1990-12-13
In this paper complex adaptive systems are defined by a self- referential loop in which objects encode functions that act back on these objects. A model for this loop is presented. It uses a simple recursive formal language, derived from the lambda-calculus, to provide a semantics that maps character strings into functions that manipulate symbols on strings. The interaction between two functions, or algorithms, is defined naturally within the language through function composition, and results in the production of a new function. An iterated map acting on sets of functions and a corresponding graph representation are defined. Their properties are useful to discuss the behavior of a fixed size ensemble of randomly interacting functions. This function gas'', or Turning gas'', is studied under various conditions, and evolves cooperative interaction patterns of considerable intricacy. These patterns adapt under the influence of perturbations consisting in the addition of new random functions to the system. Different organizations emerge depending on the availability of self-replicators.
Tests of Radar Rainfall Retrieval Algorithms
NASA Technical Reports Server (NTRS)
Durden, Stephen L.
1999-01-01
The NASA/JPL Airborne Rain Mapping Radar (ARMAR) operates at 14 GHz. ARMAR flew on the NASA DC-8 aircraft during Tropical Ocean Global Atmosphere (TOGA) Coupled Ocean Atmosphere Response Experiment (COARE), collecting data in oceanic mesoscale convective systems, similar to those now being observed by the Tropical Rainfall Measuring Mission (TRMM) satellite, which includes a 14-GHz precipitation radar. Several algorithms for retrieving rain rate from downward looking radars are in existence. These can be categorized as deterministic and stochastic. Deterministic algorithms use the path integrated attenuation (PIA), measured by the surface reference technique, as a constraint. One deterministic algorithm corrects the attenuation-rainfall (k-R) relation, while another corrects the reflectivity rainfall (ZR) relation. Stochastic algorithms apply an Extended Kalman Filter to the reflectivity profile. One employs radar reflectivity only; the other additionally uses the PIA. We find that the stochastic algorithm with PIA is the most robust algorithm with regard to incorrect assumptions about the drop-size distribution (DSD). The deterministic algorithm that uses the PIA to adjust the Z-R relation is also fairly robust and produces rain rates similar to the stochastic algorithm that uses the PIA. The deterministic algorithm that adjusts only the k-R relation and the stochastic radar-only algorithm are more sensitive to assumptions about the DSD. It is likely that they underestimate convective rainfall, especially if the DSD is erroneously assumed to be appropriate for stratiform rain conditions. The underestimation is illustrated in the diagram. The algorithm labeled D IS initially assumes a DSD that is appropriate for stratiform. rain, while the rain is most likely convective. The PIA constraint causes the k-R relation to be adjusted, resulting in a much lower rain rate than the other algorithms. Additional information is contained in the original.
An Investigation into the Optimization of Loading Path in T-shape of Tube Hydroforming
NASA Astrophysics Data System (ADS)
Kadkhodayan, M.; Heidari, M.; Erfani-Moghadam, A.
2010-06-01
This paper addressed the modeling and optimization of loading path in T-shape hydroforming of tubes using Simulated Annealing (SA) algorithm. Analysis of variance shows that some of pre-selected parameters in loading paths have not significant effect on the deformed tube. Hence, some of optimized parameters found initially, are replaced with their own fixed optimum values in order to seek for the other parameters in more detail by the Simulated Annealing (SA) algorithm. According to the intensity of effectiveness on the deformation, six more important parameters are chosen and their minimum and maximum limitation values are determined. In this case, sixty four different tests for different loading paths are designed by Design of Experiment (DOE) and full factorial method. By using mathematical modeling all required loading parameters are obtained. Proposed models of formability embedded into Simulated Annealing algorithm and optimum value for loading parameters and optimal load paths are found. The obtained results show that more accurate loading path may be found for T-shape of tube hydroforming.
NASA Astrophysics Data System (ADS)
Boz, Utku; Basdogan, Ipek
2015-12-01
Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.
Path-independent digital image correlation with high accuracy, speed and robustness
NASA Astrophysics Data System (ADS)
Jiang, Zhenyu; Kemao, Qian; Miao, Hong; Yang, Jinglei; Tang, Liqun
2015-02-01
The initial guess transferring mechanism is widely used in iterative DIC algorithms and leads to path-dependence. Using the known deformation at a processed point to estimate the initial guess at its neighboring points could save considerable computation time, and a cogitatively-selected processing path contributes to the improved robustness. In this work, our experimental study demonstrates that a path-independent DIC method is capable to achieve high accuracy, efficiency and robustness in full-field measurement of deformation, by combining an inverse compositional Gauss-Newton (IC-GN) algorithm for sub-pixel registration with a fast Fourier transform-based cross correlation (FFT-CC) algorithm to estimate the initial guess. In the proposed DIC method, the determination of initial guess accelerated by well developed software library can be a negligible burden of computation. The path-independence also endows the DIC method with the ability to handle the images containing large discontinuity of deformation without manual intervention. Furthermore, the possible performance of the proposed path-independent DIC method on parallel computing device is estimated, which shows the feasibility of the development of real-time DIC with high-accuracy.
Recursive Branching Simulated Annealing Algorithm
NASA Technical Reports Server (NTRS)
Bolcar, Matthew; Smith, J. Scott; Aronstein, David
2012-01-01
This innovation is a variation of a simulated-annealing optimization algorithm that uses a recursive-branching structure to parallelize the search of a parameter space for the globally optimal solution to an objective. The algorithm has been demonstrated to be more effective at searching a parameter space than traditional simulated-annealing methods for a particular problem of interest, and it can readily be applied to a wide variety of optimization problems, including those with a parameter space having both discrete-value parameters (combinatorial) and continuous-variable parameters. It can take the place of a conventional simulated- annealing, Monte-Carlo, or random- walk algorithm. In a conventional simulated-annealing (SA) algorithm, a starting configuration is randomly selected within the parameter space. The algorithm randomly selects another configuration from the parameter space and evaluates the objective function for that configuration. If the objective function value is better than the previous value, the new configuration is adopted as the new point of interest in the parameter space. If the objective function value is worse than the previous value, the new configuration may be adopted, with a probability determined by a temperature parameter, used in analogy to annealing in metals. As the optimization continues, the region of the parameter space from which new configurations can be selected shrinks, and in conjunction with lowering the annealing temperature (and thus lowering the probability for adopting configurations in parameter space with worse objective functions), the algorithm can converge on the globally optimal configuration. The Recursive Branching Simulated Annealing (RBSA) algorithm shares some features with the SA algorithm, notably including the basic principles that a starting configuration is randomly selected from within the parameter space, the algorithm tests other configurations with the goal of finding the globally optimal solution, and the region from which new configurations can be selected shrinks as the search continues. The key difference between these algorithms is that in the SA algorithm, a single path, or trajectory, is taken in parameter space, from the starting point to the globally optimal solution, while in the RBSA algorithm, many trajectories are taken; by exploring multiple regions of the parameter space simultaneously, the algorithm has been shown to converge on the globally optimal solution about an order of magnitude faster than when using conventional algorithms. Novel features of the RBSA algorithm include: 1. More efficient searching of the parameter space due to the branching structure, in which multiple random configurations are generated and multiple promising regions of the parameter space are explored; 2. The implementation of a trust region for each parameter in the parameter space, which provides a natural way of enforcing upper- and lower-bound constraints on the parameters; and 3. The optional use of a constrained gradient- search optimization, performed on the continuous variables around each branch s configuration in parameter space to improve search efficiency by allowing for fast fine-tuning of the continuous variables within the trust region at that configuration point.
NASA Astrophysics Data System (ADS)
Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig
2012-01-01
In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.
Real-time path planning and autonomous control for helicopter autorotation
NASA Astrophysics Data System (ADS)
Yomchinda, Thanan
Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.
Computer correction of turbulent distortions of image of extended objects on near-Earth paths
Averin, A P; Morozov, Yu B; Pryanichkov, V S; Tyapin, V V
2011-05-31
An algorithm of computer-based correction of images of extended objects distorted by turbulent atmosphere is developed. The method of computer correction is used to correct a distorted image of an extended object on a horizontal 2300-m-long observation path. The angular size of the corrected-image region was 15'. (image processing)
Solving a Hamiltonian Path Problem with a bacterial computer
Baumgardner, Jordan; Acker, Karen; Adefuye, Oyinade; Crowley, Samuel Thomas; DeLoache, Will; Dickson, James O; Heard, Lane; Martens, Andrew T; Morton, Nickolaus; Ritter, Michelle; Shoecraft, Amber; Treece, Jessica; Unzicker, Matthew; Valencia, Amanda; Waters, Mike; Campbell, A Malcolm; Heyer, Laurie J; Poet, Jeffrey L; Eckdahl, Todd T
2009-01-01
Background The Hamiltonian Path Problem asks whether there is a route in a directed graph from a beginning node to an ending node, visiting each node exactly once. The Hamiltonian Path Problem is NP complete, achieving surprising computational complexity with modest increases in size. This challenge has inspired researchers to broaden the definition of a computer. DNA computers have been developed that solve NP complete problems. Bacterial computers can be programmed by constructing genetic circuits to execute an algorithm that is responsive to the environment and whose result can be observed. Each bacterium can examine a solution to a mathematical problem and billions of them can explore billions of possible solutions. Bacterial computers can be automated, made responsive to selection, and reproduce themselves so that more processing capacity is applied to problems over time. Results We programmed bacteria with a genetic circuit that enables them to evaluate all possible paths in a directed graph in order to find a Hamiltonian path. We encoded a three node directed graph as DNA segments that were autonomously shuffled randomly inside bacteria by a Hin/hixC recombination system we previously adapted from Salmonella typhimurium for use in Escherichia coli. We represented nodes in the graph as linked halves of two different genes encoding red or green fluorescent proteins. Bacterial populations displayed phenotypes that reflected random ordering of edges in the graph. Individual bacterial clones that found a Hamiltonian path reported their success by fluorescing both red and green, resulting in yellow colonies. We used DNA sequencing to verify that the yellow phenotype resulted from genotypes that represented Hamiltonian path solutions, demonstrating that our bacterial computer functioned as expected. Conclusion We successfully designed, constructed, and tested a bacterial computer capable of finding a Hamiltonian path in a three node directed graph. This proof-of-concept experiment demonstrates that bacterial computing is a new way to address NP-complete problems using the inherent advantages of genetic systems. The results of our experiments also validate synthetic biology as a valuable approach to biological engineering. We designed and constructed basic parts, devices, and systems using synthetic biology principles of standardization and abstraction. PMID:19630940
Path planning for assembly of strut-based structures. Thesis
NASA Technical Reports Server (NTRS)
Muenger, Rolf
1991-01-01
A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is obtained by computing the minimum norm solution of the underdetermined linear system J delta-q(sub a) = x(sub a) where x(sub a) is a translational and rotational force vector that attracts the robot to its goal position and orientation. J is the manipulator Jacobian. Delta-q(sub c) is a collision avoidance term encompassing collisions between the robot (links and payload) and obstacles in the environment as well as collisions among links and payload of the robot themselves. It is obtained in joint space directly. Delta-q(sub r) is a function of the current joint vector and avoids joint range overruns. A higher level discrete search over candidate safe positions is used to provide alternatives in case the potential field algorithm encounters a local minimum and thus fails to reach the goal. The best first search algorithm A* is used for graph search. Symmetry properties of the payload and equivalent rotations are exploited to further enlarge the number of alternatives passed to the potential field algorithm.
The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm
Han, Gaining; Fu, Weiping; Wang, Wen
2016-01-01
In the behavior dynamics model, behavior competition leads to the shock problem of the intelligent vehicle navigation path, because of the simultaneous occurrence of the time-variant target behavior and obstacle avoidance behavior. Considering the safety and real-time of intelligent vehicle, the particle swarm optimization (PSO) algorithm is proposed to solve these problems for the optimization of weight coefficients of the heading angle and the path velocity. Firstly, according to the behavior dynamics model, the fitness function is defined concerning the intelligent vehicle driving characteristics, the distance between intelligent vehicle and obstacle, and distance of intelligent vehicle and target. Secondly, behavior coordination parameters that minimize the fitness function are obtained by particle swarm optimization algorithms. Finally, the simulation results show that the optimization method and its fitness function can improve the perturbations of the vehicle planning path and real-time and reliability. PMID:26880881
Integrated assignment and path planning
NASA Astrophysics Data System (ADS)
Murphey, Robert A.
2005-11-01
A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact mathematical model and solution techniques. The approach adopted is based upon the very flexible New Product Development model but also blends many features from other approaches. Solution methods using branch and bound and construction heuristics are developed and tested on several example problems, including a military scenario featuring unmanned air vehicles.
Optimal Hops-Based Adaptive Clustering Algorithm
NASA Astrophysics Data System (ADS)
Xuan, Xin; Chen, Jian; Zhen, Shanshan; Kuo, Yonghong
This paper proposes an optimal hops-based adaptive clustering algorithm (OHACA). The algorithm sets an energy selection threshold before the cluster forms so that the nodes with less energy are more likely to go to sleep immediately. In setup phase, OHACA introduces an adaptive mechanism to adjust cluster head and load balance. And the optimal distance theory is applied to discover the practical optimal routing path to minimize the total energy for transmission. Simulation results show that OHACA prolongs the life of network, improves utilizing rate and transmits more data because of energy balance.
Analogue factoring algorithm based on polychromatic interference
NASA Astrophysics Data System (ADS)
Tamma, Vincenzo; Garuccio, Augusto; Shih, Yanhua
2010-08-01
We present a novel factorization algorithm which can be computed using an analogue computer based on a polychromatic source with a given wavelength bandwidth, a multi-path interferometer and a spectrometer. The core of this algorithm stands on the measurement of the periodicity of a "factoring" function given by an exponential sum at continuous argument by recording a sequence of interferograms associated with suitable units of displacement in the inteferometer. A remarking rescaling property of such interferograms allows, in principle, the prime number decomposition of several large integers. The information about factors is encoded in the location of the inteferogram maxima.
Path integral simulations for nanoelectronics
NASA Astrophysics Data System (ADS)
Shumway, John
2007-10-01
As computer circuits shrink, devices are entering the nanoscale regime and quantum physics is becoming important. The biggest barrier to further decreases in size and increases in clock speed is excessive heat generation. Some physicists are proposing that many-body correlated quantum states of electrons may be exploited to make more energy efficient switches. In our research we are developing new simulation techniques to study highly correlated electron states in realistic device geometries and finite temperatures. The simulations are based on Feynman path integrals, which cast quantum statistical mechanics as a sum over worldlines, a mathematically equivalent alternative Schroedinger's differetial equation. Using Monte Carlo sampling on dozens to hundreds of electrons, we can simulate properties of an interacting electron fluid in a nanowire. Linear response theory relates fluctuations about equilibrium to conductivity. This gives us a new perspective on quantum phenomena, including quantized conductance steps and spin-charge separation.
The path to adaptive microsystems
NASA Astrophysics Data System (ADS)
Zolper, John C.; Biercuk, Michael J.
2006-05-01
Scaling trends in microsystems are discussed frequently in the technical community, providing a short-term perspective on the future of integrated microsystems. This paper looks beyond the leading edge of technological development, focusing on new microsystem design paradigms that move far beyond today's systems based on static components. We introduce the concept of Adaptive Microsystems and outline a path to realizing these systems-on-a-chip. The role of DARPA in advancing future components and systems research is discussed, and specific DARPA efforts enabling and producing adaptive microsystems are presented. In particular, we discuss efforts underway in the DARPA Microsystems Technology Office (MTO) including programs in novel circuit architectures (3DIC), adaptive imaging and sensing (AFPA, VISA, MONTAGE, A-to-I) and reconfigurable RF/Microwave devices (SMART, TFAST, IRFFE).
NASA Technical Reports Server (NTRS)
Goldhirsh, J.
1978-01-01
Yearly, monthly, and time of day fade statistics are presented and characterized. A 19.04 GHz yearly fade distribution, corresponding to a second COMSTAR beacon frequency, is predicted using the concept of effective path length, disdrometer, and rain rate results. The yearly attenuation and rain rate distributions follow with good approximation log normal variations for most fade and rain rate levels. Attenuations were exceeded for the longest and shortest periods of times for all fades in August and February, respectively. The eight hour time period showing the maximum and minimum number of minutes over the year for which fades exceeded 12 db were approximately between 1600 to 2400, and 0400 to 1200 hours, respectively. In employing the predictive method for obtaining the 19.04 GHz fade distribution, it is demonstrated theoretically that the ratio of attenuations at two frequencies is minimally dependent of raindrop size distribution providing these frequencies are not widely separated.
Obstacle Bypassing in Optimal Ship Routing Using Simulated Annealing
NASA Astrophysics Data System (ADS)
Kosmas, O. T.; Vlachos, D. S.; Simos, T. E.
2008-11-01
In this paper we are going to discuss a variation on the problem of finding the shortest path between two points in optimal ship routing problems consisting of obstacles that are not allowed to be crossed by the path. Our main goal are going to be the construction of an appropriate algorithm, based in an earlier work [16] by computing the shortest path between two points in the plane that avoids a set of polygonal obstacles.
Obstacle Bypassing in Optimal Ship Routing Using Simulated Annealing
Kosmas, O. T.; Vlachos, D. S.; Simos, T. E.
2008-11-06
In this paper we are going to discuss a variation on the problem of finding the shortest path between two points in optimal ship routing problems consisting of obstacles that are not allowed to be crossed by the path. Our main goal are going to be the construction of an appropriate algorithm, based in an earlier work by computing the shortest path between two points in the plane that avoids a set of polygonal obstacles.
Flexible-Path Human Exploration
NASA Technical Reports Server (NTRS)
Sherwood, B.; Adler, M.; Alkalai, L.; Burdick, G.; Coulter, D.; Jordan, F.; Naderi, F.; Graham, L.; Landis, R.; Drake, B.; Hoffman, S.; Grunsfeld, J.; Seery, B. D.
2010-01-01
In the fourth quarter of 2009 an in-house, multi-center NASA study team briefly examined "Flexible Path" concepts to begin understanding characteristics, content, and roles of potential missions consistent with the strategy proposed by the Augustine Committee. We present an overview of the study findings. Three illustrative human/robotic mission concepts not requiring planet surface operations are described: assembly of very large in-space telescopes in cis-lunar space; exploration of near Earth objects (NEOs); exploration of Mars' moon Phobos. For each, a representative mission is described, technology and science objectives are outlined, and a basic mission operations concept is quantified. A fourth type of mission, using the lunar surface as preparation for Mars, is also described. Each mission's "capability legacy" is summarized. All four illustrative missions could achieve NASA's stated human space exploration objectives and advance human space flight toward Mars surface exploration. Telescope assembly missions would require the fewest new system developments. NEO missions would offer a wide range of deep-space trip times between several months and two years. Phobos exploration would retire several Marsclass risks, leaving another large remainder set (associated with entry, descent, surface operations, and ascent) for retirement by subsequent missions. And extended lunar surface operations would build confidence for Mars surface missions by addressing a complementary set of risks. Six enabling developments (robotic precursors, ISS exploration testbed, heavy-lift launch, deep-space-capable crew capsule, deep-space habitat, and reusable in-space propulsion stage) would apply across multiple program sequence options, and thus could be started even without committing to a specific mission sequence now. Flexible Path appears to be a viable strategy, with meaningful and worthy mission content.
The BRUSH algorithm for two-electron integrals on GPU
NASA Astrophysics Data System (ADS)
Rák, Ádám; Cserey, György
2015-02-01
This Letter presents a new algorithmic method developed to evaluate two-electron repulsion integrals based on contracted Gaussian basis functions in a parallel way. This new algorithm scheme provides distinct SIMD (single instruction multiple data) optimized paths which symbolically transforms integral parameters into target integral algorithms. Our measurements indicate that the method gives a significant improvement over the CPU-friendly PRISM algorithm. The benchmark tests (evaluation of more than 108 integrals using the STO-3G basis set) of our GPU (NVIDIA GTX 780) implementation showed up to 750-fold speedup compared to a single core of Athlon II X4 635 CPU.
Stereoscopic depth perception for robot vision: algorithms and architectures
Safranek, R.J.; Kak, A.C.
1983-01-01
The implementation of depth perception algorithms for computer vision is considered. In automated manufacturing, depth information is vital for tasks such as path planning and 3-d scene analysis. The presentation begins with a survey of computer algorithms for stereoscopic depth perception. The emphasis is on the Marr-Poggio paradigm of human stereo vision and its computer implementation. In addition, a stereo matching algorithm based on the relaxation labelling technique is examined. A computer architecture designed to efficiently implement stereo matching algorithms, an MIMD array interfaced to a global memory, is presented. 9 references.
The reaction path intrinsic reaction coordinate method and the Hamilton-Jacobi theory.
Crehuet, Ramon; Bofill, Josep Maria
2005-06-15
The definition and location of an intrinsic reaction coordinate path is of crucial importance in many areas of theoretical chemistry. Differential equations used to define the path hitherto are complemented in this study with a variational principle of Fermat type, as Fukui [Int. J. Quantum Chem., Quantum Chem. Symp. 15, 633 (1981)] reported in a more general form some time ago. This definition is more suitable for problems where initial and final points are given. The variational definition can naturally be recast into a Hamilton-Jacobi equation. The character of the variational solution is studied via the Weierstrass necessary and sufficient conditions. The characterization of the local minima character of the intrinsic reaction coordinate is proved. Such result leads to a numerical algorithm to find intrinsic reaction coordinate paths based on the successive minimizations of the Weierstrass E-function evaluated on a guess curve connecting the initial and final points of the desired path. PMID:16008428
Path planning method for UUV homing and docking in movement disorders environment.
Yan, Zheping; Deng, Chao; Chi, Dongnan; Chen, Tao; Hou, Shuping
2014-01-01
Path planning method for unmanned underwater vehicles (UUV) homing and docking in movement disorders environment is proposed in this paper. Firstly, cost function is proposed for path planning. Then, a novel particle swarm optimization (NPSO) is proposed and applied to find the waypoint with minimum value of cost function. Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed. Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO), inertia weight particle swarm optimization (LWPSO, EPSO), and time-varying acceleration coefficient (TVAC). It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC. Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path. PMID:25054169
Wiest, Jennifer H.; Buckner, Gregory D.
2014-01-01
This paper introduces a real-time path optimization and control strategy for shape memory alloy (SMA) actuated cardiac ablation catheters, potentially enabling the creation of more precise lesions with reduced procedure times and improved patient outcomes. Catheter tip locations and orientations are optimized using parallel genetic algorithms to produce continuous ablation paths with near normal tissue contact through physician-specified points. A nonlinear multivariable control strategy is presented to compensate for SMA hysteresis, bandwidth limitations, and coupling between system inputs. Simulated and experimental results demonstrate efficient generation of ablation paths and optimal reference trajectories. Closed-loop control of the SMA-actuated catheter along optimized ablation paths is validated experimentally. PMID:25684857
Bioinspired Coordinated Path Following for Vessels with Speed Saturation Based on Virtual Leader
Fu, Mingyu
2016-01-01
This paper investigates the coordinated path following of multiple marine vessels with speed saturation. Based on virtual leader strategy, the authors show how the neural dynamic model and passivity-based techniques are brought together to yield a distributed control strategy. The desired path following is achieved by means of a virtual dynamic leader, whose controller is designed based on the biological neural shunting model. Utilizing the characteristic of bounded and smooth output of neural dynamic model, the tracking error jump is avoided and speed saturation problem is solved in straight path. Meanwhile, the coordinated path following of multiple vessels with a desired spatial formation is achieved through defining the formation reference point. The consensus of formation reference point is realized by using the synchronization controller based on passivity. Finally, simulation results validate the effectiveness of the proposed coordinated algorithm. PMID:27034652
Path Planning Method for UUV Homing and Docking in Movement Disorders Environment
Yan, Zheping; Deng, Chao; Chi, Dongnan; Hou, Shuping
2014-01-01
Path planning method for unmanned underwater vehicles (UUV) homing and docking in movement disorders environment is proposed in this paper. Firstly, cost function is proposed for path planning. Then, a novel particle swarm optimization (NPSO) is proposed and applied to find the waypoint with minimum value of cost function. Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed. Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO), inertia weight particle swarm optimization (LWPSO, EPSO), and time-varying acceleration coefficient (TVAC). It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC. Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path. PMID:25054169
Path integral Monte Carlo on a lattice: Extended states
NASA Astrophysics Data System (ADS)
O'Callaghan, Mark; Miller, Bruce N.
2014-04-01
The equilibrium properties of a single quantum particle (qp) interacting with a classical gas for a wide range of temperatures that explore the system's behavior in the classical as well as in the quantum regime is investigated. Both the qp and atoms are restricted to the sites of a one-dimensional lattice. A path integral formalism is developed within the context of the canonical ensemble in which the qp is represented by a closed, variable-step random walk on the lattice. Monte Carlo methods are employed to determine the system's properties. For the case of a free particle, analytical expressions for the energy, its fluctuations, and the qp-qp correlation function are derived and compared with the Monte Carlo simulations. To test the usefulness of the path integral formalism, the Metropolis algorithm is employed to determine the equilibrium properties of the qp for a periodic interaction potential, forcing the qp to occupy extended states. We consider a striped potential in one dimension, where every other lattice site is occupied by an atom with potential ɛ, and every other lattice site is empty. This potential serves as a stress test for the path integral formalism because of its rapid site-to-site variation. An analytical solution was determined in this case by utilizing Bloch's theorem due to the periodicity of the potential. Comparisons of the potential energy, the total energy, the energy fluctuations, and the correlation function are made between the results of the Monte Carlo simulations and the analytical calculations.
Energy-driven path search for Termite Retinex.
Lecca, Michela; Rizzi, Alessandro; Gianini, Gabriele
2016-01-01
The human color sensation depends on the local and global spatial arrangements of the colors in the scene. Emulating this dependence requires the exploration of the image in search of a white reference. The algorithm Termite Retinex explores the image by a set of paths resembling traces of a swarm of termites. Starting from this approach, we develop a novel spatial exploration scheme where the termite paths are local minimums of an energy function, which depend on the image visual content. The energy is designed to favor the visitation of regions containing information relevant to the color sensation while minimizing the coverage of less essential regions. This exploration method contributes to the investigation of the spatial properties of the color sensation and, to the best of our knowledge, is the first model relying on mathematical global conditions for the Retinex paths. The experiments show that the estimation of the color sensation obtained by means of the proposed spatial sampling is a valid alternative to the one based on Termite Retinex. PMID:26831582
Path integral Monte Carlo on a lattice: extended states.
O'Callaghan, Mark; Miller, Bruce N
2014-04-01
The equilibrium properties of a single quantum particle (qp) interacting with a classical gas for a wide range of temperatures that explore the system's behavior in the classical as well as in the quantum regime is investigated. Both the qp and atoms are restricted to the sites of a one-dimensional lattice. A path integral formalism is developed within the context of the canonical ensemble in which the qp is represented by a closed, variable-step random walk on the lattice. Monte Carlo methods are employed to determine the system's properties. For the case of a free particle, analytical expressions for the energy, its fluctuations, and the qp-qp correlation function are derived and compared with the Monte Carlo simulations. To test the usefulness of the path integral formalism, the Metropolis algorithm is employed to determine the equilibrium properties of the qp for a periodic interaction potential, forcing the qp to occupy extended states. We consider a striped potential in one dimension, where every other lattice site is occupied by an atom with potential ε, and every other lattice site is empty. This potential serves as a stress test for the path integral formalism because of its rapid site-to-site variation. An analytical solution was determined in this case by utilizing Bloch's theorem due to the periodicity of the potential. Comparisons of the potential energy, the total energy, the energy fluctuations, and the correlation function are made between the results of the Monte Carlo simulations and the analytical calculations. PMID:24827210
Path Query Processing in Large-Scale XML Databases
NASA Astrophysics Data System (ADS)
Haw, Su-Cheng; Radha Krishna Rao, G. S. V.
With the ever-increasing popularity of XML (e-Xtensible Markup Language) as data representation and exchange on the Internet, querying XML data has become an important issue to be address. In Native XML Database (NXD), XML documents are usually modeled as trees and XML queries are typically specified in path expression. In path expression, the primitive structural relationships are Parent-Child (P-C) and Ancestor-Descendant (A-D). Thus, finding all occurrences of these relationships is crucial for XML query processing. Current methods for query processing on NXD usually employ either sequential traversing of tree-structured model or a decomposition-matching-merging processes. We adopt the later approach and propose a novel hybrid query optimization technique, INLAB comprising both indexing and labeling technologies. Furthermore, we also propose several algorithms to create INLAB encoding and analyze the path query. We implemented our technique and present performance results over several benchmarking datasets, which prove the viability of our approach.
Frequency scaling of slant-path attenuation in tropical regions
NASA Astrophysics Data System (ADS)
Bowthorpe, B. J.; Allen, G. H.; Kikkert, C. J.; Arlett, P. L.; Allnutt, J. E.
1990-06-01
Measured slant-path attenuation data currently available do not cover every eventuality, thus requiring the use of scaling algorithms to produce estimates of the transmission parameters at a particular site. Several multiple frequency propagation experiments have been conducted over the same path, and the resultant data have been used to derive frequency-scaling models of path attenuation. Most of these experiments have been conducted in temperate latitudes, and there is some doubt that the scaling models will fit other latitudes, particularly those subject to severe rain climates. James Cook University of North Queensland, Australia has been operating a number of radiometers as part of an experiment conducted for Intelsat. The radiometers used in this experiment operate at 7.5, 11.6, 19.5 and 28.5 GHz with a common azimuth and an elevation angle of 63 deg. This paper compares the results at the various frequencies with an existing frequency-scaling model and comments on the comparison.
Planning Paths Through Singularities in the Center of Mass Space
NASA Technical Reports Server (NTRS)
Doggett, William R.; Messner, William C.; Juang, Jer-Nan
1998-01-01
The center of mass space is a convenient space for planning motions that minimize reaction forces at the robot's base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multiple robot joint configurations. The existence of multiple images results in a need to either maintain multiple center of mass obstacle maps or to update obstacle locations when the robot passes through a singularity, such as when it moves from an elbow-up to an elbow-down configuration. To illustrate the concepts presented in this paper, a path is planned for an example task requiring motion through multiple center of mass space maps. The object of the path planning algorithm is to locate the bang- bang acceleration profile that minimizes the robot's base reactions in the presence of a single Cartesian obstacle. To simplify the presentation, only non-redundant robots are considered and joint non-linearities are neglected.
Sequential Path Entanglement for Quantum Metrology
Jin, Xian-Min; Peng, Cheng-Zhi; Deng, Youjin; Barbieri, Marco; Nunn, Joshua; Walmsley, Ian A.
2013-01-01
Path entanglement is a key resource for quantum metrology. Using path-entangled states, the standard quantum limit can be beaten, and the Heisenberg limit can be achieved. However, the preparation and detection of such states scales unfavourably with the number of photons. Here we introduce sequential path entanglement, in which photons are distributed across distinct time bins with arbitrary separation, as a resource for quantum metrology. We demonstrate a scheme for converting polarization Greenberger-Horne-Zeilinger entanglement into sequential path entanglement. We observe the same enhanced phase resolution expected for conventional path entanglement, independent of the delay between consecutive photons. Sequential path entanglement can be prepared comparably easily from polarization entanglement, can be detected without using photon-number-resolving detectors, and enables novel applications.
MLEM algorithm adaptation for improved SPECT scintimammography
NASA Astrophysics Data System (ADS)
Krol, Andrzej; Feiglin, David H.; Lee, Wei; Kunniyur, Vikram R.; Gangal, Kedar R.; Coman, Ioana L.; Lipson, Edward D.; Karczewski, Deborah A.; Thomas, F. Deaver
2005-04-01
Standard MLEM and OSEM algorithms used in SPECT Tc-99m sestamibi scintimammography produce hot-spot artifacts (HSA) at the image support peripheries. We investigated a suitable adaptation of MLEM and OSEM algorithms needed to reduce HSA. Patients with suspicious breast lesions were administered 10 mCi of Tc-99m sestamibi and SPECT scans were acquired for patients in prone position with uncompressed breasts. In addition, to simulate breast lesions, some patients were imaged with a number of breast skin markers each containing 1 mCi of Tc-99m. In order to reduce HSA in reconstruction, we removed from the backprojection step the rays that traverse the periphery of the support region on the way to a detector bin, when their path length through this region was shorter than some critical length. Such very short paths result in a very low projection counts contributed to the detector bin, and consequently to overestimation of the activity in the peripheral voxels in the backprojection step-thus creating HSA. We analyzed the breast-lesion contrast and suppression of HSA in the images reconstructed using standard and modified MLEM and OSEM algorithms vs. critical path length (CPL). For CPL >= 0.01 pixel size, we observed improved breast-lesion contrast and lower noise in the reconstructed images, and a very significant reduction of HSA in the maximum intensity projection (MIP) images.
Energy-Aware Path Planning for UAS Persistent Sampling and Surveillance
NASA Astrophysics Data System (ADS)
Shaw-Cortez, Wenceslao
The focus of this work is to develop an energy-aware path planning algorithm that maximizes UAS endurance, while performing sampling and surveillance missions in a known, stationary wind environment. The energy-aware aspect is specifically tailored to extract energy from the wind to reduce thrust use, thereby increasing aircraft endurance. Wind energy extraction is performed by static soaring and dynamic soaring. Static soaring involves using upward wind currents to increase altitude and potential energy. Dynamic soaring involves taking advantage of wind gradients to exchange potential and kinetic energy. The path planning algorithm developed in this work uses optimization to combine these soaring trajectories with the overarching sampling and surveillance mission. The path planning algorithm uses a simplified aircraft model to tractably optimize soaring trajectories. This aircraft model is presented and along with the derivation of the equations of motion. A nonlinear program is used to create the soaring trajectories based on a given optimization problem. This optimization problem is defined using a heuristic decision tree, which defines appropriate problems given a sampling and surveillance mission and a wind model. Simulations are performed to assess the path planning algorithm. The results are used to identify properties of soaring trajectories as well as to determine what wind conditions support minimal thrust soaring. Additional results show how the path planning algorithm can be tuned between maximizing aircraft endurance and performing the sampling and surveillance mission. A means of trajectory stitching is demonstrated to show how the periodic soaring segments can be combined together to provide a full solution to an infinite/long horizon problem.
Autonomous underwater vehicle adaptive path planning for target classification
NASA Astrophysics Data System (ADS)
Edwards, Joseph R.; Schmidt, Henrik
2002-11-01
Autonomous underwater vehicles (AUVs) are being rapidly developed to carry sensors into the sea in ways that have previously not been possible. The full use of the vehicles, however, is still not near realization due to lack of the true vehicle autonomy that is promised in the label (AUV). AUVs today primarily attempt to follow as closely as possible a preplanned trajectory. The key to increasing the autonomy of the AUV is to provide the vehicle with a means to make decisions based on its sensor receptions. The current work examines the use of active sonar returns from mine-like objects (MLOs) as a basis for sensor-based adaptive path planning, where the path planning objective is to discriminate between real mines and rocks. Once a target is detected in the mine hunting phase, the mine classification phase is initialized with a derivative cost function to emphasize signal differences and enhance classification capability. The AUV moves adaptively to minimize the cost function. The algorithm is verified using at-sea data derived from the joint MIT/SACLANTCEN GOATS experiments and advanced acoustic simulation using SEALAB. The mission oriented operating system (MOOS) real-time simulator is then used to test the onboard implementation of the algorithm.
Birkholz, Adam B; Schlegel, H Bernhard
2016-05-14
Reaction path optimization is being used more frequently as an alternative to the standard practice of locating a transition state and following the path downhill. The Variational Reaction Coordinate (VRC) method was proposed as an alternative to chain-of-states methods like nudged elastic band and string method. The VRC method represents the path using a linear expansion of continuous basis functions, allowing the path to be optimized variationally by updating the expansion coefficients to minimize the line integral of the potential energy gradient norm, referred to as the Variational Reaction Energy (VRE) of the path. When constraints are used to control the spacing of basis functions and to couple the minimization of the VRE with the optimization of one or more individual points along the path (representing transition states and intermediates), an approximate path as well as the converged geometries of transition states and intermediates along the path are determined in only a few iterations. This algorithmic efficiency comes at a high per-iteration cost due to numerical integration of the VRE derivatives. In the present work, methods for incorporating redundant internal coordinates and potential energy surface interpolation into the VRC method are described. With these methods, the per-iteration cost, in terms of the number of potential energy surface evaluations, of the VRC method is reduced while the high algorithmic efficiency is maintained. PMID:27179465
NASA Astrophysics Data System (ADS)
Birkholz, Adam B.; Schlegel, H. Bernhard
2016-05-01
Reaction path optimization is being used more frequently as an alternative to the standard practice of locating a transition state and following the path downhill. The Variational Reaction Coordinate (VRC) method was proposed as an alternative to chain-of-states methods like nudged elastic band and string method. The VRC method represents the path using a linear expansion of continuous basis functions, allowing the path to be optimized variationally by updating the expansion coefficients to minimize the line integral of the potential energy gradient norm, referred to as the Variational Reaction Energy (VRE) of the path. When constraints are used to control the spacing of basis functions and to couple the minimization of the VRE with the optimization of one or more individual points along the path (representing transition states and intermediates), an approximate path as well as the converged geometries of transition states and intermediates along the path are determined in only a few iterations. This algorithmic efficiency comes at a high per-iteration cost due to numerical integration of the VRE derivatives. In the present work, methods for incorporating redundant internal coordinates and potential energy surface interpolation into the VRC method are described. With these methods, the per-iteration cost, in terms of the number of potential energy surface evaluations, of the VRC method is reduced while the high algorithmic efficiency is maintained.
A simple way to improve path consistency processing in interval algebra networks
Bessiere, C.
1996-12-31
Reasoning about qualitative temporal information is essential in many artificial intelligence problems. In particular, many tasks can be solved using the interval-based temporal algebra introduced by Allen (A1183). In this framework, one of the main tasks is to compute the transitive closure of a network of relations between intervals (also called path consistency in a CSP-like terminology). Almost all previous path consistency algorithms proposed in the temporal reasoning literature were based on the constraint reasoning algorithms PC-1 and PC-2 (Mac77). In this paper, we first show that the most efficient of these algorithms is the one which stays the closest to PC-2. Afterwards, we propose a new algorithm, using the idea {open_quotes}one support is sufficient{close_quotes} (as AC-3 (Mac77) does for arc consistency in constraint networks). Actually, to apply this idea, we simply changed the way composition-intersection of relations was achieved during the path consistency process in previous algorithms.
A Simple Method for Solving the SVM Regularization Path for Semidefinite Kernels.
Sentelle, Christopher G; Anagnostopoulos, Georgios C; Georgiopoulos, Michael
2016-04-01
The support vector machine (SVM) remains a popular classifier for its excellent generalization performance and applicability of kernel methods; however, it still requires tuning of a regularization parameter, C , to achieve optimal performance. Regularization path-following algorithms efficiently solve the solution at all possible values of the regularization parameter relying on the fact that the SVM solution is piece-wise linear in C . The SVMPath originally introduced by Hastie et al., while representing a significant theoretical contribution, does not work with semidefinite kernels. Ong et al. introduce a method improved SVMPath (ISVMP) algorithm, which addresses the semidefinite kernel; however, Singular Value Decomposition or QR factorizations are required, and a linear programming solver is required to find the next C value at each iteration. We introduce a simple implementation of the path-following algorithm that automatically handles semidefinite kernels without requiring a method to detect singular matrices nor requiring specialized factorizations or an external solver. We provide theoretical results showing how this method resolves issues associated with the semidefinite kernel as well as discuss, in detail, the potential sources of degeneracy and cycling and how cycling is resolved. Moreover, we introduce an initialization method for unequal class sizes based upon artificial variables that work within the context of the existing path-following algorithm and do not require an external solver. Experiments compare performance with the ISVMP algorithm introduced by Ong et al. and show that the proposed method is competitive in terms of training time while also maintaining high accuracy. PMID:26011894
Nickel, Nathan C; Chateau, Dan G; Martens, Patricia J; Brownell, Marni D; Katz, Alan; Burland, Elaine M J; Walld, Randy; Hu, Mingming; Taylor, Carole R; Sarkar, Joykrishna; Goh, Chun Yan
2014-10-01
The PATHS Data Resource is a unique database comprising data that follow individuals from the prenatal period to adulthood. The PATHS Resource was developed for conducting longitudinal epidemiological research into child health and health equity. It contains individual-level data on health, socioeconomic status, social services and education. Individuals' data are linkable across these domains, allowing researchers to follow children through childhood and across a variety of sectors. PATHS includes nearly all individuals that were born between 1984 and 2012 and registered with Manitoba's universal health insurance programme at some point during childhood. All PATHS data are anonymized. Key concepts, definitions and algorithms necessary to work with the PATHS Resource are freely accessible online and an interactive forum is available to new researchers working with these data. The PATHS Resource is one of the richest and most complete databases assembled for conducting longitudinal epidemiological research, incorporating many variables that address the social determinants of health and health equity. Interested researchers are encouraged to contact [mchp_access@cpe.umanitoba.ca] to obtain access to PATHS to use in their own programmes of research. PMID:25212478
Transition paths of Met-enkephalin from Markov state modeling of a molecular dynamics trajectory.
Banerjee, Rahul; Cukier, Robert I
2014-03-20
Conformational states and their interconversion pathways of the zwitterionic form of the pentapeptide Met-enkephalin (MetEnk) are identified. An explicit solvent molecular dynamics (MD) trajectory is used to construct a Markov state model (MSM) based on dihedral space clustering of the trajectory, and transition path theory (TPT) is applied to identify pathways between open and closed conformers. In the MD trajectory, only four of the eight backbone dihedrals exhibit bistable behavior. Defining a conformer as the string XXXX with X = "+" or "-" denoting, respectively, positive or negative values of a given dihedral angle and obtaining the populations of these conformers shows that only four conformers are highly populated, implying a strong correlation among these dihedrals. Clustering in dihedral space to construct the MSM finds the same four bistable dihedral angles. These state populations are very similar to those found directly from the MD trajectory. TPT is used to obtain pathways, parametrized by committor values, in dihedral state space that are followed in transitioning from closed to open states. Pathway costs are estimated by introducing a kinetics-based procedure that orders pathways from least (shortest) to greater cost paths. The least costly pathways in dihedral space are found to only involve the same XXXX set of dihedral angles, and the conformers accessed in the closed to open transition pathways are identified. For these major pathways, a correlation between reaction path progress (committors) and the end-to-end distance is identified. A dihedral space principal component analysis of the MD trajectory shows that the first three modes capture most of the overall fluctuation, and pick out the same four dihedrals having essentially all the weight in those modes. A MSM based on root-mean-square backbone clustering was also carried out, with good agreement found with dihedral clustering for the static information, but with results that differ significantly for the pathway analysis. PMID:24571787
A note on the path interval distance.
Coons, Jane Ivy; Rusinko, Joseph
2016-06-01
The path interval distance accounts for global congruence between locally incongruent trees. We show that the path interval distance provides a lower bound for the nearest neighbor interchange distance. In contrast to the Robinson-Foulds distance, random pairs of trees are unlikely to be maximally distant from one another under the path interval distance. These features indicate that the path interval distance should play a role in phylogenomics where the comparison of trees on a fixed set of taxa is becoming increasingly important. PMID:27040521
Fast implementation of color constancy algorithms
NASA Astrophysics Data System (ADS)
Morel, Jean-Michel; Petro, Ana B.; Sbert, Catalina
2009-01-01
Color constancy is a feature of the human color perception system which ensures that the perceived color of objects remains relatively constant under varying illumination conditions, and therefore closer to the physical reflectance. This perceptual effect, discovered by Helmholtz, was formalized by Land and McCann in 1971, who formulated the Retinex theory. Several theories have ever since been developed, known as Retinex or color constancy algorithms. In particular an important historic variant was proposed by Horn in 1974 and another by Blake in 1985. These algorithms modify the RGB values at each pixel in an attempt to give an estimate of the physical color. Land's original algorithm is both complex and not fully specified. It computes at each pixel a stochastic integral on an unspecified set of paths on the image. For this reason, Land's algorithm has received many recent interpretations and implementations that attempt to tune down the excessive complexity. In this paper, a fast and exact FFT implementation of Land's, Horn and Blake theories is described. It permits for the first time a rigorous comparison of these algorithms. A slight variant of these three algorithms will be proposed, that makes them into contrast enhancing algorithms. Several comparative experiments on color images illustrate the superiority of Land's model to manipulate image contrast.
A Trajectory Algorithm to Support En Route and Terminal Area Self-Spacing Concepts: Third Revision
NASA Technical Reports Server (NTRS)
Abbott, Terence S.
2012-01-01
This document describes an algorithm for the generation of a four dimensional trajectory. Input data for this algorithm are similar to an augmented Standard Terminal Arrival (STAR) with the augmentation in the form of altitude or speed crossing restrictions at waypoints on the route. This version of the algorithm accommodates constant radius turns and cruise altitude waypoints with calibrated airspeed, versus Mach, constraints. The algorithm calculates the altitude, speed, along path distance, and along path time for each waypoint. Wind data at each of these waypoints are also used for the calculation of ground speed and turn radius.
SSME propellant path leak detection
NASA Technical Reports Server (NTRS)
Smith, L. M.; Hunt, W. A.
1993-01-01
Initial research established that the occurrence of a leak in the powerhead of the Space Shuttle Main Engine (SSME) is accompanied by a sudden, but sustained, change in intensity in a given region of an image. Based upon this, temporal processing of video images on a frame-by-frame basis has been used to detect leaks within a given field of view. The leak detection algorithm developed in this study consists of a digital highpass filter cascaded with a moving average filter applied at each point in the image field. The absolute value of the output is then averaged over the full frame to produce a single time-varying mean value estimate that is indicative of the intensity and extent of a leak. Recent work has included the processing of an extensive amount of data obtained from NASA MSFC to verify the performance of the leak detection system. Further research is being conducted on applying the leak detection algorithm to anomaly detection in the SSME exhaust by means of three channel color processing as opposed to single channel monochrome processing in the case of the leak detection system.
Detecting curves with unknown endpoints and arbitrary topology using minimal paths.
Kaul, Vivek; Yezzi, Anthony; Tsai, Yichang James
2012-10-01
Existing state-of-the-art minimal path techniques work well to extract simple open curves in images when both endpoints of the curve are given as user input or when one input is given and the total length of the curve is known in advance. Curves which branch require even further prior input from the user, namely, each branch endpoint. In this work, we present a novel minimal path-based algorithm which works on much more general curve topologies with far fewer demands on the user for initial input compared to prior minimal path-based algorithms. The two key novelties and benefits of this new approach are that 1) it may be used to detect both open and closed curves, including more complex topologies containing both multiple branch points and multiple closed cycles without requiring a priori knowledge about which of these types is to be extracted, and 2) it requires only a single input point which, in contrast to existing methods, is no longer constrained to be an endpoint of the desired curve but may in fact be ANY point along the desired curve (even an internal point). We perform quantitative evaluation of the algorithm on 48 images (44 pavement crack images, 1 catheter tube image, and 3 retinal images) against human supplied ground truth. The results demonstrate that the algorithm is indeed able to extract curve-like objects accurately from images with far less prior knowledge and less user interaction compared to existing state-of-the-art minimal path-based image processing algorithms. In the future, the algorithm can be applied to other 2D curve-like objects and it can be extended to detect 3D curves. PMID:22201054
Precision Cleaning - Path to Premier
NASA Technical Reports Server (NTRS)
Mackler, Scott E.
2008-01-01
ITT Space Systems Division s new Precision Cleaning facility provides critical cleaning and packaging of aerospace flight hardware and optical payloads to meet customer performance requirements. The Precision Cleaning Path to Premier Project was a 2007 capital project and is a key element in the approved Premier Resource Management - Integrated Supply Chain Footprint Optimization Project. Formerly precision cleaning was located offsite in a leased building. A new facility equipped with modern precision cleaning equipment including advanced process analytical technology and improved capabilities was designed and built after outsourcing solutions were investigated and found lacking in ability to meet quality specifications and schedule needs. SSD cleans parts that can range in size from a single threaded fastener all the way up to large composite structures. Materials that can be processed include optics, composites, metals and various high performance coatings. We are required to provide verification to our customers that we have met their particulate and molecular cleanliness requirements and we have that analytical capability in this new facility. The new facility footprint is approximately half the size of the former leased operation and provides double the amount of throughput. Process improvements and new cleaning equipment are projected to increase 1st pass yield from 78% to 98% avoiding $300K+/yr in rework costs. Cost avoidance of $350K/yr will result from elimination of rent, IT services, transportation, and decreased utility costs. Savings due to reduced staff expected to net $4-500K/yr.
Gerbertian paths for the Jubilee
NASA Astrophysics Data System (ADS)
Sigismondi, Costantino
2015-04-01
Gerbert before becoming Pope Sylvester II came several times in Rome, as reported in his Letters and in the biography of Richerus. Eight places in Rome can be connected with Gerbertian memories. 1. The Cathedral of St. John in the Lateran where the gravestone of his tumb is still preserved near the Holy Door; 2. the “Basilica Hierusalem” (Santa Croce) where Gerbert had the stroke on May 3rd 1003 which lead him to death on May 12th; 3. the Aventine hill, with the church of the Knights of Malta in the place where the palace of the Ottonian Emperors was located; 4. the church of St. Bartholomew in the Tiber Island built in 997 under Otto III; 5. the Obelisk of Augustus in Montecitorio to remember the relationship between Gerbert, Astronomy and numbers which led the birth of the legends on Gerbert magician; 6. St. Mary Major end of the procession of August 15, 1000; 7. St. Paul outside the walls with the iconography of the Popes and 8. St. Peter's tumb end of all Romaei pilgrimages. This Gerbertian path in Rome suggests one way to accomplish the pilgrimage suggested by Pope Francis in the Bulla Misericordiae Vultus (14) of indiction of the new Jubilee.
Decision paths in complex tasks
NASA Technical Reports Server (NTRS)
Galanter, Eugene
1991-01-01
Complex real world action and its prediction and control has escaped analysis by the classical methods of psychological research. The reason is that psychologists have no procedures to parse complex tasks into their constituents. Where such a division can be made, based say on expert judgment, there is no natural scale to measure the positive or negative values of the components. Even if we could assign numbers to task parts, we lack rules i.e., a theory, to combine them into a total task representation. We compare here two plausible theories for the amalgamation of the value of task components. Both of these theories require a numerical representation of motivation, for motivation is the primary variable that guides choice and action in well-learned tasks. We address this problem of motivational quantification and performance prediction by developing psychophysical scales of the desireability or aversiveness of task components based on utility scaling methods (Galanter 1990). We modify methods used originally to scale sensory magnitudes (Stevens and Galanter 1957), and that have been applied recently to the measure of task 'workload' by Gopher and Braune (1984). Our modification uses utility comparison scaling techniques which avoid the unnecessary assumptions made by Gopher and Braune. Formula for the utility of complex tasks based on the theoretical models are used to predict decision and choice of alternate paths to the same goal.
All-Optical Implementation of the Ant Colony Optimization Algorithm.
Hu, Wenchao; Wu, Kan; Shum, Perry Ping; Zheludev, Nikolay I; Soci, Cesare
2016-01-01
We report all-optical implementation of the optimization algorithm for the famous "ant colony" problem. Ant colonies progressively optimize pathway to food discovered by one of the ants through identifying the discovered route with volatile chemicals (pheromones) secreted on the way back from the food deposit. Mathematically this is an important example of graph optimization problem with dynamically changing parameters. Using an optical network with nonlinear waveguides to represent the graph and a feedback loop, we experimentally show that photons traveling through the network behave like ants that dynamically modify the environment to find the shortest pathway to any chosen point in the graph. This proof-of-principle demonstration illustrates how transient nonlinearity in the optical system can be exploited to tackle complex optimization problems directly, on the hardware level, which may be used for self-routing of optical signals in transparent communication networks and energy flow in photonic systems. PMID:27222098
Adaptively Ubiquitous Learning in Campus Math Path
ERIC Educational Resources Information Center
Shih, Shu-Chuan; Kuo, Bor-Chen; Liu, Yu-Lung
2012-01-01
The purposes of this study are to develop and evaluate the instructional model and learning system which integrate ubiquitous learning, computerized adaptive diagnostic testing system and campus math path learning. The researcher first creates a ubiquitous learning environment which is called "adaptive U-learning math path system". This system…
Career Path Guide for Adult Career Choices.
ERIC Educational Resources Information Center
Case, Clydia
Intended for adults who are considering career choices or changes, this booklet provides opportunities for self-study and reflection in six career paths. The booklet begins with tips for long-term career survival and myths and realities of career planning. After a brief career survey, readers are introduced to six career paths: arts and…
Adaptively Ubiquitous Learning in Campus Math Path
ERIC Educational Resources Information Center
Shih, Shu-Chuan; Kuo, Bor-Chen; Liu, Yu-Lung
2012-01-01
The purposes of this study are to develop and evaluate the instructional model and learning system which integrate ubiquitous learning, computerized adaptive diagnostic testing system and campus math path learning. The researcher first creates a ubiquitous learning environment which is called "adaptive U-learning math path system". This system
Code of Federal Regulations, 2014 CFR
2014-01-01
... STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY AIRPLANES Flight Performance § 23.57 Takeoff... airborne. (c) During the takeoff path determination, in accordance with paragraphs (a) and (b) of this section— (1) The slope of the airborne part of the takeoff path must not be negative at any point; (2)...
Code of Federal Regulations, 2011 CFR
2011-01-01
... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Takeoff path. 23.57 Section 23.57 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY AIRPLANES Flight Performance § 23.57 Takeoff path. For each commuter category airplane,...
Code of Federal Regulations, 2013 CFR
2013-01-01
... STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY AIRPLANES Flight Performance § 23.57 Takeoff... airborne. (c) During the takeoff path determination, in accordance with paragraphs (a) and (b) of this section— (1) The slope of the airborne part of the takeoff path must not be negative at any point; (2)...
Code of Federal Regulations, 2010 CFR
2010-01-01
... STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY AIRPLANES Flight Performance § 23.57 Takeoff... airborne. (c) During the takeoff path determination, in accordance with paragraphs (a) and (b) of this section— (1) The slope of the airborne part of the takeoff path must not be negative at any point; (2)...
The Path of Carbon in Photosynthesis VI.
DOE R&D Accomplishments Database
Calvin, M.
1949-06-30
This paper is a compilation of the essential results of our experimental work in the determination of the path of carbon in photosynthesis. There are discussions of the dark fixation of photosynthesis and methods of separation and identification including paper chromatography and radioautography. The definition of the path of carbon in photosynthesis by the distribution of radioactivity within the compounds is described.
Orenstein, Yaron; Shamir, Ron
2013-01-01
Motivation: Novel technologies can generate large sets of short double-stranded DNA sequences that can be used to measure their regulatory effects. Microarrays can measure in vitro the binding intensity of a protein to thousands of probes. Synthetic enhancer sequences inserted into an organism’s genome allow us to measure in vivo the effect of such sequences on the phenotype. In both applications, by using sequence probes that cover all k-mers, a comprehensive picture of the effect of all possible short sequences on gene regulation is obtained. The value of k that can be used in practice is, however, severely limited by cost and space considerations. A key challenge is, therefore, to cover all k-mers with a minimal number of probes. The standard way to do this uses the de Bruijn sequence of length . However, as probes are double stranded, when a k-mer is included in a probe, its reverse complement k-mer is accounted for as well. Results: Here, we show how to efficiently create a shortest possible sequence with the property that it contains each k-mer or its reverse complement, but not necessarily both. The length of the resulting sequence approaches half that of the de Bruijn sequence as k increases resulting in a more efficient array, which allows covering more longer sequences; alternatively, additional sequences with redundant k-mers of interest can be added. Availability: The software is freely available from our website http://acgt.cs.tau.ac.il/shortcake/. Contact: rshamir@tau.ac.il PMID:23813011
NASA Astrophysics Data System (ADS)
Raghavan, Deepak; McAlister, H. A.
2007-12-01
We present a visual orbit for the spectroscopic binary, HD 146361, derived from observations at the CHARA Array's long baseline interferometer. The 26 calibrated visibility measurements obtained during May - July 2007 allow us to determine a full orbital solution and component masses for this known spectroscopic binary. The HD 146361 pair has a circular orbit of nearly equal-mass components with a good quality double-lined spectroscopic orbit (Dave Latham, private communication). We have adopted the well-constrained spectroscopic orbital elements and fit the angular semi-major axis, inclination, and longitude of nodes to the binary visibility curve equations. Using these elements and the Hipparcos parallax of 46.11 ± 0.98 mas, we obtain component masses of 1.046 ± 0.084 Msol and 1.000 ± 0.080 Msol. We have planned further observations of this system to reduce the mass uncertainties and may present an updated result at the meeting. This is the shortest period spectroscopic binary resolved as of yet with an interferometer. This work is being done in the context of Raghavan's thesis project, which is a survey of solar-type stars in the solar neighborhood. By completing this survey, we hope to build a comprehensive view of the environments around solar-type stars and improve our understanding of their habitats by analyzing their companions of all types - stars, brown dwarfs, and planets. We have chosen an unbiased, volume-limited sample of 455 primary stars as representatives of the solar-type stars in our Galaxy. Our effort is a modern update to the seminal work of Duquennoy & Mayor (1991) and will contribute to the broader subjects of stellar evolution and planetary system formation, evolution, and stability. Research at the CHARA Array is supported by the College of Arts and Sciences at Georgia State University and by the National Science Foundation through NSF Grant AST 0606958.
Optimal Path Choice in Railway Passenger Travel Network Based on Residual Train Capacity
Dou, Fei; Yan, Kai; Huang, Yakun; Jia, Limin
2014-01-01
Passenger's optimal path choice is one of the prominent research topics in the field of railway passenger transport organization. More and more different train types are available, increasing path choices from departure to destination for travelers are unstoppable. However, travelers cannot avoid being confused when they hope to choose a perfect travel plan based on various travel time and cost constraints before departure. In this study, railway passenger travel network is constructed based on train timetable. Both the generalized cost function we developed and the residual train capacity are considered to be the foundation of path searching procedure. The railway passenger travel network topology is analyzed based on residual train capacity. Considering the total travel time, the total travel cost, and the total number of passengers, we propose an optimal path searching algorithm based on residual train capacity in railway passenger travel network. Finally, the rationale of the railway passenger travel network and the optimal path generation algorithm are verified positively by case study. PMID:25097867
Seismic ray Paths in Anisotropic Medium Based on Higher-Order Geometry
NASA Astrophysics Data System (ADS)
Yajima, T.; Nagahama, H.
2006-12-01
In this study, a seismic ray path in an anisotropic medium is studied by differential geometric view point. In seismological studies, the seismic ray theory for high frequency wave is based on Fermat's principle that renders the traveltime minimum. Generally, a shortest ray path connected to two different points becomes a straight line. In other words, the ray propagates in Euclidean space. However, a real seismic ray path is not straight but curve in nature. This geometrically means that the ray path propagates through a crust as non- Euclidean space. Especially, when the seismic ray propagates through anisotropic medium, the ray velocity depends on both position and direction. Geometrically, this ray velocity in the non-Euclidean anisotropic medium is regarded as a Lagrangian in Finsler space. Hence, the seismic ray theory in the anisotropic medium can be studied based on Finsler space. The ray velocity in the anisotropic medium can be expressed by a special Finslerian metric function called mth root metric. Mathematically, this seismic Finsler space belongs to a higher-order space called Kawaguchi space. This implies that the Finslerian ray velocity can be expressed by a metric in Kawaguchi space. However, the relation between the Finslerian ray velocity and the metric in higher-order space has not been cleared yet. Therefore, it is shown that the Finslerian ray velocity can be derived from a metric in higher-order space. Next, specifically a wavefront of Finslerian ray velocity is investigated in two-dimensional horizontally uniform medium. The seismic ray paths are defined as the normal to the wavefronts, which are loci of points that undergo the same motion at a given instant. Geometrically, the seismic wavefront in anisotropic media can be viewed as the indicatrix of the Finsler geometry. For example, when the ray propagates the isotropic material, the indicatrices are spheres whose radii are velocities at any point. On the other hand, when the ray propagates the anisotropic material, the indicatrices are no longer spheres. Therefore, we can know anisotropy of material in crust from the shape of wavefront. Using a parameter m of Finsler metric, we classify the anisotropic envelopes of seismic wavefront. Finally, we estimate the m-value from the seismic observational data.
Library of Continuation Algorithms
Energy Science and Technology Software Center (ESTSC)
2005-03-01
LOCA (Library of Continuation Algorithms) is scientific software written in C++ that provides advanced analysis tools for nonlinear systems. In particular, it provides parameter continuation algorithms. bifurcation tracking algorithms, and drivers for linear stability analysis. The algorithms are aimed at large-scale applications that use Newtons method for their nonlinear solve.
Evolution paths for advanced automation
NASA Technical Reports Server (NTRS)
Healey, Kathleen J.
1990-01-01
As Space Station Freedom (SSF) evolves, increased automation and autonomy will be required to meet Space Station Freedom Program (SSFP) objectives. As a precursor to the use of advanced automation within the SSFP, especially if it is to be used on SSF (e.g., to automate the operation of the flight systems), the underlying technologies will need to be elevated to a high level of readiness to ensure safe and effective operations. Ground facilities supporting the development of these flight systems -- from research and development laboratories through formal hardware and software development environments -- will be responsible for achieving these levels of technology readiness. These facilities will need to evolve support the general evolution of the SSFP. This evolution will include support for increasing the use of advanced automation. The SSF Advanced Development Program has funded a study to define evolution paths for advanced automaton within the SSFP's ground-based facilities which will enable, promote, and accelerate the appropriate use of advanced automation on-board SSF. The current capability of the test beds and facilities, such as the Software Support Environment, with regard to advanced automation, has been assessed and their desired evolutionary capabilities have been defined. Plans and guidelines for achieving this necessary capability have been constructed. The approach taken has combined indepth interviews of test beds personnel at all SSF Work Package centers with awareness of relevant state-of-the-art technology and technology insertion methodologies. Key recommendations from the study include advocating a NASA-wide task force for advanced automation, and the creation of software prototype transition environments to facilitate the incorporation of advanced automation in the SSFP.
NASA Astrophysics Data System (ADS)
Feibel, C. S.
2004-12-01
A complex series of evolutionary steps, contingent upon a dynamic environmental context and a long biological heritage, have led to the ascent of Homo sapiens as a dominant component of the modern biosphere. In a field where missing links still abound and new discoveries regularly overturn theoretical paradigms, our understanding of the path of human evolution has made tremendous advances in recent years. Two major trends characterize the development of the hominin clade subsequent to its origins with the advent of upright bipedalism in the Late Miocene of Africa. One is a diversification into two prominent morphological branches, each with a series of 'twigs' representing evolutionary experimentation at the species or subspecies level. The second important trend, which in its earliest manifestations cannot clearly be ascribed to one or the other branch, is the behavioral complexity of an increasing reliance on technology to expand upon limited inherent morphological specializations and to buffer the organism from its environment. This technological dependence is directly associated with the expansion of hominin range outside Africa by the genus Homo, and is accelerated in the sole extant form Homo sapiens through the last 100 Ka. There are interesting correlates between the evolutionary and behavioral patterns seen in the hominin clade and environmental dynamics of the Neogene. In particular, the tempo of morphological and behavioral innovation may be tracking major events in Neogene climatic development as well as reflecting intervals of variability or stability. Major improvements in analytical techniques, coupled with important new collections and a growing body of contextual data are now making possible the integration of global, regional and local environmental archives with an improved biological understanding of the hominin clade to address questions of coincidence and causality.
A timeline algorithm for astronomy missions
NASA Technical Reports Server (NTRS)
Moore, J. E.; Guffin, O. T.
1975-01-01
An algorithm is presented for generating viewing timelines for orbital astronomy missions of the pointing (nonsurvey/scan) type. The algorithm establishes a target sequence from a list of candidate targets in a way which maximizes total viewing time. Two special cases are treated. One concerns dim targets which, due to lighting constraints, are scheduled only during the antipolar portion of each orbit. They normally require long observation times extending over several revolutions. A minimum slew heuristic is employed to select the sequence of dim targets. The other case deals with bright, or short duration, targets, which have less restrictive lighting constraints and are scheduled during the portion of each orbit when dim targets cannot be viewed. Since this process moves much more rapidly than the dim path, an enumeration algorithm is used to select the sequence that maximizes total viewing time.
Quantum hyperparallel algorithm for matrix multiplication
Zhang, Xin-Ding; Zhang, Xiao-Ming; Xue, Zheng-Yuan
2016-01-01
Hyperentangled states, entangled states with more than one degree of freedom, are considered as promising resource in quantum computation. Here we present a hyperparallel quantum algorithm for matrix multiplication with time complexity O(N2), which is better than the best known classical algorithm. In our scheme, an N dimensional vector is mapped to the state of a single source, which is separated to N paths. With the assistance of hyperentangled states, the inner product of two vectors can be calculated with a time complexity independent of dimension N. Our algorithm shows that hyperparallel quantum computation may provide a useful tool in quantum machine learning and “big data” analysis. PMID:27125586
Graph-Based Path-Planning for Titan Balloons
NASA Technical Reports Server (NTRS)
Blackmore, Lars James; Fathpour, Nanaz; Elfes, Alberto
2010-01-01
A document describes a graph-based path-planning algorithm for balloons with vertical control authority and little or no horizontal control authority. The balloons are designed to explore celestial bodies with atmospheres, such as Titan, a moon of Saturn. The algorithm discussed enables the balloon to achieve horizontal motion using the local horizontal winds. The approach is novel because it enables the balloons to use arbitrary wind field models. This is in contrast to prior approaches that used highly simplified wind field models, such as linear, or binary, winds. This new approach works by discretizing the space in which the balloon operates, and representing the possible states of the balloon as a graph whose arcs represent the time taken to move from one node to another. The approach works with arbitrary wind fields, by looking up the wind strength and direction at every node in the graph from an arbitrary wind model. Having generated the graph, search techniques such as Dijkstra s algorithm are then used to find the set of vertical actuation commands that takes the balloon from the start to the goal in minimum time. In addition, the set of reachable locations on the moon or planet can be determined.
Nonholonomic catheter path reconstruction using electromagnetic tracking
NASA Astrophysics Data System (ADS)
Lugez, Elodie; Sadjadi, Hossein; Akl, Selim G.; Fichtinger, Gabor
2015-03-01
Catheter path reconstruction is a necessary step in many clinical procedures, such as cardiovascular interventions and high-dose-rate brachytherapy. To overcome limitations of standard imaging modalities, electromagnetic tracking has been employed to reconstruct catheter paths. However, tracking errors pose a challenge in accurate path reconstructions. We address this challenge by means of a filtering technique incorporating the electromagnetic measurements with the nonholonomic motion constraints of the sensor inside a catheter. The nonholonomic motion model of the sensor within the catheter and the electromagnetic measurement data were integrated using an extended Kalman filter. The performance of our proposed approach was experimentally evaluated using the Ascension's 3D Guidance trakStar electromagnetic tracker. Sensor measurements were recorded during insertions of an electromagnetic sensor (model 55) along ten predefined ground truth paths. Our method was implemented in MATLAB and applied to the measurement data. Our reconstruction results were compared to raw measurements as well as filtered measurements provided by the manufacturer. The mean of the root-mean-square (RMS) errors along the ten paths was 3.7 mm for the raw measurements, and 3.3 mm with manufacturer's filters. Our approach effectively reduced the mean RMS error to 2.7 mm. Compared to other filtering methods, our approach successfully improved the path reconstruction accuracy by exploiting the sensor's nonholonomic motion constraints in its formulation. Our approach seems promising for a variety of clinical procedures involving reconstruction of a catheter path.
Principal Investigator: Dr. Abdella Battou
2009-05-22
The major accomplishments of the project are the successful software implementation of the Phase I scheduling algorithms for GMPLS Label Switched Paths (LSPs) and the extension of the IETF Path Computation Element (PCE) Protocol to support scheduling extensions. In performing this work, we have demonstrated the theoretical work of Phase I, analyzed key issues, and made relevant extensions. Regarding the software implementation, we developed a proof of concept prototype as part of our Algorithm Evaluation System (AES). This implementation uses the Linux operating system to provide software portability and will be the foundation for our commercial software. To demonstrate proof of concept, we have implemented LSP scheduling algorithms to support two of the key GMPLS switching technologies (Lambda and Packet) and support both Fixed Path (FP) and Switched Path (SP) routing. We chose Lambda and Packet because we felt it was essential to include both circuit and packet switching technologies as well as to address all-optical switching in the study. As conceptualized in Phase I, the FP algorithms use a traditional approach where the LSP uses the same physical path for the entire service duration while the innovative SP algorithms allow the physical path to vary during the service duration. As part of this study, we have used the AES to conduct a performance analysis using metro size networks (up to 32 nodes) that showed that these algorithms are suitable for commercial implementation. Our results showed that the CPU time required to compute an LSP schedule was small compared to expected inter-arrival time between LSP requests. Also, when the network size increased from 7 to 15 to 32 nodes with 10, 26, and 56 TE links, the CPU processing time showed excellent scaling properties. When Fixed Path and Switched Path routing were compared, SP provided only modestly better performance with respect to LSP completion rate, service duration, path length, and start time deviation. In addition, the SP routing required somewhat more CPU time than the FP routing. However, when the allowable range for the start time is increased, the CPU time for SP increased less rapidly than FP such that the CPU processing times became comparable. Therefore, SP routing may scale better than FP routing. The Path Computation Element Working Group is a complementary working group to the GMPLS working group (CCAMP) in the IETF and is developing standards to discover, manage, and access elements that compute routes for GMPLS for LSPs. The algorithms used to compute the routes are not subject to standardization. Since the PCE supports only standard GMPLS LSPs, it does not support scheduled LSPs. Therefore, it is a natural extension of our Phase I work to introduce this enhancement into the PCE. In addition, the PCE adds another dimension to our product line because the PCE by itself may be a product with a standard interface.
A Novel Discrete Differential Evolution Algorithm for the Vehicle Routing Problem in B2C E-Commerce
NASA Astrophysics Data System (ADS)
Xia, Chao; Sheng, Ying; Jiang, Zhong-Zhong; Tan, Chunqiao; Huang, Min; He, Yuanjian
2015-12-01
In this paper, a novel discrete differential evolution (DDE) algorithm is proposed to solve the vehicle routing problems (VRP) in B2C e-commerce, in which VRP is modeled by the incomplete graph based on the actual urban road system. First, a variant of classical VRP is described and a mathematical programming model for the variant is given. Second, the DDE is presented, where individuals are represented as the sequential encoding scheme, and a novel reparation operator is employed to repair the infeasible solutions. Furthermore, a FLOYD operator for dealing with the shortest route is embedded in the proposed DDE. Finally, an extensive computational study is carried out in comparison with the predatory search algorithm and genetic algorithm, and the results show that the proposed DDE is an effective algorithm for VRP in B2C e-commerce.
A Deformable Model-based Minimal Path Segmentation Method for Kidney MR Images
Li, Ke; Fei, Baowei
2013-01-01
We developed a new minimal path segmentation method for mouse kidney MR images. We used dynamic programming and a minimal path segmentation approach to detect the optimal path within a weighted graph between two end points. The energy function combines distance and gradient information to guide the marching curve and thus to evaluate the best path and to span a broken edge. An algorithm was developed to automatically place initial end points. Dynamic programming was used to automatically optimize and update end points during the searching procedure. Principle component analysis (PCA) was used to generate a deformable model, which serves as the prior knowledge for the selection of initial end points and for the evaluation of the best path. The method has been tested for kidney MR images acquired from 44 mice. To quantitatively assess the automatic segmentation method, we compared the results with manual segmentation. The mean and standard deviation of the overlap ratios are 95.19%±0.03%. The distance error between the automatic and manual segmentation is 0.82±0.41 pixel. The automatic minimal path segmentation method is fast, accurate, and robust and it can be applied not only for kidney images but also for other organs. PMID:24386528
Steering Chiral Swimmers along Noisy Helical Paths
NASA Astrophysics Data System (ADS)
Friedrich, Benjamin M.; Jülicher, Frank
2009-08-01
Chemotaxis along helical paths towards a target releasing a chemoattractant is found in sperm cells and many microorganisms. We discuss the stochastic differential geometry of the noisy helical swimming path of a chiral swimmer. A chiral swimmer equipped with a simple feedback system can navigate in a concentration gradient of chemoattractant. We derive an effective equation for the alignment of helical paths with a concentration gradient which is related to the alignment of a dipole in an external field and discuss the chemotaxis index.
The terminal area automated path generation problem
NASA Technical Reports Server (NTRS)
Hsin, C.-C.
1977-01-01
The automated terminal area path generation problem in the advanced Air Traffic Control System (ATC), has been studied. Definitions, input, output and the interrelationships with other ATC functions have been discussed. Alternatives in modeling the problem have been identified. Problem formulations and solution techniques are presented. In particular, the solution of a minimum effort path stretching problem (path generation on a given schedule) has been carried out using the Newton-Raphson trajectory optimization method. Discussions are presented on the effect of different delivery time, aircraft entry position, initial guess on the boundary conditions, etc. Recommendations are made on real-world implementations.
A transport-based condensed history algorithm
Tolar, D.R. Jr.; Larsen, E.W.
1999-09-01
Condensed history algorithms are approximate electron transport Monte Carlo methods in which the cumulative effects of multiple collisions are modeled in a single step of path length s{sub 0}. This path length is the distance each Monte Carlo electron travels between collisions. Current condensed history techniques utilize a splitting routine over the range 0 {le} s {le} s{sub 0}. For example, the PENELOPE method splits each step into two substeps: one with length {xi}s{sub 0} and one with length (1 {minus} {xi})s{sub 0}, where {xi} is a random number from 0 < {xi} < 1. Because s{sub 0} is fixed (not sampled from an exponential distribution), conventional condensed history schemes are not transport processes. Here the authors describe a new condensed history algorithm that is a transport process. The method simulates a transport equation that approximates the exact Boltzmann equation. The new transport equation has a larger mean free path (mfp) than, and preserves two angular moments of, the Boltzmann equation. Thus, the new process is solved more efficiently by Monte Carlo, and it conserves both particles and scattering power.
A transport-based condensed history algorithm
Tolar Jr, D R
1999-01-06
Condensed history algorithms are approximate electron transport Monte Carlo methods in which the cumulative effects of multiple collisions are modeled in a single step of (user-specified) path length s{sub 0}. This path length is the distance each Monte Carlo electron travels between collisions. Current condensed history techniques utilize a splitting routine over the range 0 {le} s {le} s{sub 0}. For example, the PEnELOPE method splits each step into two substeps; one with length {xi}s{sub 0} and one with length (1 {minus}{xi})s{sub 0}, where {xi} is a random number from 0 < {xi} < 1. because s{sub 0} is fixed (not sampled from an exponential distribution), conventional condensed history schemes are not transport processes. Here the authors describe a new condensed history algorithm that is a transport process. The method simulates a transport equation that approximates the exact Boltzmann equation. The new transport equation has a larger mean free path than, and preserves two angular moments of, the Boltzmann equation. Thus, the new process is solved more efficiently by Monte Carlo, and it conserves both particles and scattering power.
A chemist building paths to cell biology.
Weibel, Douglas B
2013-11-01
Galileo is reported to have stated, "Measure what is measurable and make measurable what is not so." My group's trajectory in cell biology has closely followed this philosophy, although it took some searching to find this path. PMID:24174456
An Alternate Path To Stoichiometric Problem Solving.
ERIC Educational Resources Information Center
Schmidt, Hans-Jurgen
1997-01-01
Discusses an alternate path to teaching introductory stoichiometry based on research findings. The recommendation is to use problems that can be solved easily by rapid mental calculation as well as by pure logic. (AIM)
Duality of quantum coherence and path distinguishability
NASA Astrophysics Data System (ADS)
Bera, Manabendra Nath; Qureshi, Tabish; Siddiqui, Mohd Asad; Pati, Arun Kumar
2015-07-01
We derive a generalized wave-particle duality relation for arbitrary multipath quantum interference phenomena. Beyond the conventional notion of the wave nature of a quantum system, i.e., the interference fringe visibility, we introduce a quantifier as the normalized quantum coherence, recently defined in the framework of quantum information theory. To witness the particle nature, we quantify the path distinguishability or the which-path information based on unambiguous quantum state discrimination. Then, the Bohr complementarity principle for multipath quantum interference can be stated as a duality relation between the quantum coherence and the path distinguishability. For two-path interference, the quantum coherence is identical to the interference fringe visibility, and the relation reduces to the well-known complementarity relation. The duality relation continues to hold in the case where mixedness is introduced due to possible decoherence effects.
Path Analysis in Genetic Epidemiology and Alternatives.
ERIC Educational Resources Information Center
Karlin, Samuel
1987-01-01
Discusses the application of path analysis in the context of genetic epidemiology. Examines the coherence of model specification, plausibility of modeling assumptions, the interpretability and usefulness of the model, and the validity of statistical procedures. (RB)
Nonclassical paths in quantum interference experiments.
Sawant, Rahul; Samuel, Joseph; Sinha, Aninda; Sinha, Supurna; Sinha, Urbasi
2014-09-19
In a double slit interference experiment, the wave function at the screen with both slits open is not exactly equal to the sum of the wave functions with the slits individually open one at a time. The three scenarios represent three different boundary conditions and as such, the superposition principle should not be applicable. However, most well-known text books in quantum mechanics implicitly and/or explicitly use this assumption that is only approximately true. In our present study, we have used the Feynman path integral formalism to quantify contributions from nonclassical paths in quantum interference experiments that provide a measurable deviation from a naive application of the superposition principle. A direct experimental demonstration for the existence of these nonclassical paths is difficult to present. We find that contributions from such paths can be significant and we propose simple three-slit interference experiments to directly confirm their existence. PMID:25279612
Nonclassical Paths in Quantum Interference Experiments
NASA Astrophysics Data System (ADS)
Sawant, Rahul; Samuel, Joseph; Sinha, Aninda; Sinha, Supurna; Sinha, Urbasi
2014-09-01
In a double slit interference experiment, the wave function at the screen with both slits open is not exactly equal to the sum of the wave functions with the slits individually open one at a time. The three scenarios represent three different boundary conditions and as such, the superposition principle should not be applicable. However, most well-known text books in quantum mechanics implicitly and/or explicitly use this assumption that is only approximately true. In our present study, we have used the Feynman path integral formalism to quantify contributions from nonclassical paths in quantum interference experiments that provide a measurable deviation from a naive application of the superposition principle. A direct experimental demonstration for the existence of these nonclassical paths is difficult to present. We find that contributions from such paths can be significant and we propose simple three-slit interference experiments to directly confirm their existence.
Riemann Curvature Tensor and Closed Geodesic Paths
ERIC Educational Resources Information Center
Morganstern, Ralph E.
1977-01-01
Demonstrates erroneous results obtained if change in a vector under parallel transport about a closed path in Riemannian spacetime is made in a complete circuit rather than just half a circuit. (Author/SL)
Identifying decohering paths in closed quantum systems
NASA Technical Reports Server (NTRS)
Albrecht, Andreas
1990-01-01
A specific proposal is discussed for how to identify decohering paths in a wavefunction of the universe. The emphasis is on determining the correlations among subsystems and then considering how these correlations evolve. The proposal is similar to earlier ideas of Schroedinger and of Zeh, but in other ways it is closer to the decoherence functional of Griffiths, Omnes, and Gell-Mann and Hartle. There are interesting differences with each of these which are discussed. Once a given coarse-graining is chosen, the candidate paths are fixed in this scheme, and a single well defined number measures the degree of decoherence for each path. The normal probability sum rules are exactly obeyed (instantaneously) by these paths regardless of the level of decoherence. Also briefly discussed is how one might quantify some other aspects of classicality. The important role that concrete calculations play in testing this and other proposals is stressed.
Application of fast BLMS algorithm in acoustic echo cancellation
NASA Astrophysics Data System (ADS)
Zhao, Yue; Li, Nian Q.
2013-03-01
The acoustic echo path is usually very long and ranges from several hundreds to few thousands of taps. Frequency domain adaptive filter provides a solution to acoustic echo cancellation by means of resulting a significant reduction in the computational burden. In this paper, fast BLMS (Block Least-Mean-Square) algorithm in frequency domain is realized by using fast FFT technology. The adaptation of filter parameters is actually performed in the frequency domain. The proposed algorithm can ensure convergence with high speed and reduce computational complexity. Simulation results indicate that the algorithm demonstrates good performance for acoustic echo cancellation in communication systems.
Using Heuristic Algorithms to Optimize Observing Target Sequences
NASA Astrophysics Data System (ADS)
Sosnowska, D.; Ouadahi, A.; Buchschacher, N.; Weber, L.; Pepe, F.
2014-05-01
The preparation of observations is normally carried out at the telescope by the visiting observer. In order to help the observer, we propose several algorithms to automatically optimize the sequence of targets. The optimization consists of assuring that all the chosen targets are observable within the given time interval, and to find their best execution order in terms of the observation quality and the shortest telescope displacement time. Since an exhaustive search is too expensive in time, we researched heuristic algorithms, specifically: Min-Conflict, Non-Sorting Genetic Algorithms and Simulated Annealing. Multiple metaheuristics are used in parallel to swiftly give an approximation of the best solution, with all the constraints satisfied and the total execution time minimized. The optimization process has a duration on the order of tens of seconds, allowing for quick re-adaptation in case of changing atmospheric conditions. The graphical user interface allows the user to control the parameters of the optimization process. Therefore, the search can be adjusted in real time. The module was coded in a way to allow easily the addition of new constraints, and thus ensure its compatibility with different instruments. For now, the application runs as a plug-in to the observation preparation tool called New Short Term Scheduler, which is used on three spectrographs dedicated to the exoplanets search: HARPS at the La Silla observatory, HARPS North at the La Palma observatory and SOPHIE at the Observatoire de Haute-Provence.
Java PathExplorer: A Runtime Verification Tool
NASA Technical Reports Server (NTRS)
Havelund, Klaus; Rosu, Grigore; Clancy, Daniel (Technical Monitor)
2001-01-01
We describe recent work on designing an environment called Java PathExplorer for monitoring the execution of Java programs. This environment facilitates the testing of execution traces against high level specifications, including temporal logic formulae. In addition, it contains algorithms for detecting classical error patterns in concurrent programs, such as deadlocks and data races. An initial prototype of the tool has been applied to the executive module of the planetary Rover K9, developed at NASA Ames. In this paper we describe the background and motivation for the development of this tool, including comments on how it relates to formal methods tools as well as to traditional testing, and we then present the tool itself.
Monitoring Java Programs with Java PathExplorer
NASA Technical Reports Server (NTRS)
Havelund, Klaus; Rosu, Grigore; Clancy, Daniel (Technical Monitor)
2001-01-01
We present recent work on the development Java PathExplorer (JPAX), a tool for monitoring the execution of Java programs. JPAX can be used during program testing to gain increased information about program executions, and can potentially furthermore be applied during operation to survey safety critical systems. The tool facilitates automated instrumentation of a program's late code which will then omit events to an observer during its execution. The observer checks the events against user provided high level requirement specifications, for example temporal logic formulae, and against lower level error detection procedures, for example concurrency related such as deadlock and data race algorithms. High level requirement specifications together with their underlying logics are defined in the Maude rewriting logic, and then can either be directly checked using the Maude rewriting engine, or be first translated to efficient data structures and then checked in Java.