Path Planning Algorithms for Autonomous Border Patrol Vehicles

Science.gov (United States)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Path generation algorithm for UML graphic modeling of aerospace test software

Science.gov (United States)

Qu, MingCheng; Wu, XiangHu; Tao, YongChao; Chen, Chao

2018-03-01

Aerospace traditional software testing engineers are based on their own work experience and communication with software development personnel to complete the description of the test software, manual writing test cases, time-consuming, inefficient, loopholes and more. Using the high reliability MBT tools developed by our company, the one-time modeling can automatically generate test case documents, which is efficient and accurate. UML model to describe the process accurately express the need to rely on the path is reached, the existing path generation algorithm are too simple, cannot be combined into a path and branch path with loop, or too cumbersome, too complicated arrangement generates a path is meaningless, for aerospace software testing is superfluous, I rely on our experience of ten load space, tailor developed a description of aerospace software UML graphics path generation algorithm.

Path lumping: An efficient algorithm to identify metastable path channels for conformational dynamics of multi-body systems

Science.gov (United States)

Meng, Luming; Sheong, Fu Kit; Zeng, Xiangze; Zhu, Lizhe; Huang, Xuhui

2017-07-01

Constructing Markov state models from large-scale molecular dynamics simulation trajectories is a promising approach to dissect the kinetic mechanisms of complex chemical and biological processes. Combined with transition path theory, Markov state models can be applied to identify all pathways connecting any conformational states of interest. However, the identified pathways can be too complex to comprehend, especially for multi-body processes where numerous parallel pathways with comparable flux probability often coexist. Here, we have developed a path lumping method to group these parallel pathways into metastable path channels for analysis. We define the similarity between two pathways as the intercrossing flux between them and then apply the spectral clustering algorithm to lump these pathways into groups. We demonstrate the power of our method by applying it to two systems: a 2D-potential consisting of four metastable energy channels and the hydrophobic collapse process of two hydrophobic molecules. In both cases, our algorithm successfully reveals the metastable path channels. We expect this path lumping algorithm to be a promising tool for revealing unprecedented insights into the kinetic mechanisms of complex multi-body processes.

An improved algorithm for finding all minimal paths in a network

International Nuclear Information System (INIS)

Bai, Guanghan; Tian, Zhigang; Zuo, Ming J.

2016-01-01

Minimal paths (MPs) play an important role in network reliability evaluation. In this paper, we report an efficient recursive algorithm for finding all MPs in two-terminal networks, which consist of a source node and a sink node. A linked path structure indexed by nodes is introduced, which accepts both directed and undirected form of networks. The distance between each node and the sink node is defined, and a simple recursive algorithm is presented for labeling the distance for each node. Based on the distance between each node and the sink node, additional conditions for backtracking are incorporated to reduce the number of search branches. With the newly introduced linked node structure, the distances between each node and the sink node, and the additional backtracking conditions, an improved backtracking algorithm for searching for all MPs is developed. In addition, the proposed algorithm can be adapted to search for all minimal paths for each source–sink pair in networks consisting of multiple source nodes and/or multiple sink nodes. Through computational experiments, it is demonstrated that the proposed algorithm is more efficient than existing algorithms when the network size is not too small. The proposed algorithm becomes more advantageous as the size of the network grows. - Highlights: • A linked path structure indexed by nodes is introduced to represent networks. • Additional conditions for backtracking are proposed based on the distance of each node. • An efficient algorithm is developed to find all MPs for two-terminal networks. • The computational efficiency of the algorithm for two-terminal networks is investigated. • The computational efficiency of the algorithm for multi-terminal networks is investigated.

Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

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PeiJiang Yuan

2015-12-01

Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

A bat algorithm with mutation for UCAV path planning.

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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.

A Novel Quad Harmony Search Algorithm for Grid-Based Path Finding

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Saso Koceski

2014-09-01

Full Text Available A novel approach to the problem of grid-based path finding has been introduced. The method is a block-based search algorithm, founded on the bases of two algorithms, namely the quad-tree algorithm, which offered a great opportunity for decreasing the time needed to compute the solution, and the harmony search (HS algorithm, a meta-heuristic algorithm used to obtain the optimal solution. This quad HS algorithm uses the quad-tree decomposition of free space in the grid to mark the free areas and treat them as a single node, which greatly improves the execution. The results of the quad HS algorithm have been compared to other meta-heuristic algorithms, i.e., ant colony, genetic algorithm, particle swarm optimization and simulated annealing, and it was proved to obtain the best results in terms of time and giving the optimal path.

Reaction path of energetic materials using THOR code

Science.gov (United States)

Durães, L.; Campos, J.; Portugal, A.

1998-07-01

The method of predicting reaction path, using THOR code, allows for isobar and isochor adiabatic combustion and CJ detonation regimes, the calculation of the composition and thermodynamic properties of reaction products of energetic materials. THOR code assumes the thermodynamic equilibria of all possible products, for the minimum Gibbs free energy, using HL EoS. The code allows the possibility of estimating various sets of reaction products, obtained successively by the decomposition of the original reacting compound, as a function of the released energy. Two case studies of thermal decomposition procedure were selected, calculated and discussed—pure Ammonium Nitrate and its based explosive ANFO, and Nitromethane—because their equivalence ratio is respectively lower, near and greater than the stoicheiometry. Predictions of reaction path are in good correlation with experimental values, proving the validity of proposed method.

PP: A graphics post-processor for the EQ6 reaction path code

International Nuclear Information System (INIS)

Stockman, H.W.

1994-09-01

The PP code is a graphics post-processor and plotting program for EQ6, a popular reaction-path code. PP runs on personal computers, allocates memory dynamically, and can handle very large reaction path runs. Plots of simple variable groups, such as fluid and solid phase composition, can be obtained with as few as two keystrokes. Navigation through the list of reaction path variables is simple and efficient. Graphics files can be exported for inclusion in word processing documents and spreadsheets, and experimental data may be imported and superposed on the reaction path runs. The EQ6 thermodynamic database can be searched from within PP, to simplify interpretation of complex plots

Design requirements and development of an airborne descent path definition algorithm for time navigation

Science.gov (United States)

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.

Experiments with the auction algorithm for the shortest path problem

DEFF Research Database (Denmark)

Larsen, Jesper; Pedersen, Ib

1999-01-01

The auction approach for the shortest path problem (SPP) as introduced by Bertsekas is tested experimentally. Parallel algorithms using the auction approach are developed and tested. Both the sequential and parallel auction algorithms perform significantly worse than a state-of-the-art Dijkstra-l......-like reference algorithm. Experiments are run on a distributed-memory MIMD class Meiko parallel computer....

Multiple Object Tracking Using the Shortest Path Faster Association Algorithm

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Zhenghao Xi

2014-01-01

Full Text Available 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.

A new algorithm for least-cost path analysis by correcting digital elevation models of natural landscapes

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Baek, Jieun; Choi, Yosoon

2017-04-01

Most algorithms for least-cost path analysis usually calculate the slope gradient between the source cell and the adjacent cells to reflect the weights for terrain slope into the calculation of travel costs. However, these algorithms have limitations that they cannot analyze the least-cost path between two cells when obstacle cells with very high or low terrain elevation exist between the source cell and the target cell. This study presents a new algorithm for least-cost path analysis by correcting digital elevation models of natural landscapes to find possible paths satisfying the constraint of maximum or minimum slope gradient. The new algorithm calculates the slope gradient between the center cell and non-adjacent cells using the concept of extended move-sets. If the algorithm finds possible paths between the center cell and non-adjacent cells with satisfying the constraint of slope condition, terrain elevation of obstacle cells existing between two cells is corrected from the digital elevation model. After calculating the cumulative travel costs to the destination by reflecting the weight of the difference between the original and corrected elevations, the algorithm analyzes the least-cost path. The results of applying the proposed algorithm to the synthetic data sets and the real-world data sets provide proof that the new algorithm can provide more accurate least-cost paths than other conventional algorithms implemented in commercial GIS software such as ArcGIS.

Analysis of Known Linear Distributed Average Consensus Algorithms on Cycles and Paths

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Jesús Gutiérrez-Gutiérrez

2018-03-01

Full Text Available In this paper, we compare six known linear distributed average consensus algorithms on a sensor network in terms of convergence time (and therefore, in terms of the number of transmissions required. The selected network topologies for the analysis (comparison are the cycle and the path. Specifically, in the present paper, we compute closed-form expressions for the convergence time of four known deterministic algorithms and closed-form bounds for the convergence time of two known randomized algorithms on cycles and paths. Moreover, we also compute a closed-form expression for the convergence time of the fastest deterministic algorithm considered on grids.

Algorithms for finding optimal paths in network games with p players

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R. Boliac

1997-08-01

Full Text Available We study the problem of finding optimal paths in network games with p players. Some polynomial-time algorithms for finding optimal paths and optimal by Nash strategies of the players in network games with p players are proposed.

Modified multiblock partial least squares path modeling algorithm with backpropagation neural networks approach

Science.gov (United States)

Yuniarto, Budi; Kurniawan, Robert

2017-03-01

PLS Path Modeling (PLS-PM) is different from covariance based SEM, where PLS-PM use an approach based on variance or component, therefore, PLS-PM is also known as a component based SEM. Multiblock Partial Least Squares (MBPLS) is a method in PLS regression which can be used in PLS Path Modeling which known as Multiblock PLS Path Modeling (MBPLS-PM). This method uses an iterative procedure in its algorithm. This research aims to modify MBPLS-PM with Back Propagation Neural Network approach. The result is MBPLS-PM algorithm can be modified using the Back Propagation Neural Network approach to replace the iterative process in backward and forward step to get the matrix t and the matrix u in the algorithm. By modifying the MBPLS-PM algorithm using Back Propagation Neural Network approach, the model parameters obtained are relatively not significantly different compared to model parameters obtained by original MBPLS-PM algorithm.

Path Planning with a Lazy Significant Edge Algorithm (LSEA

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Joseph Polden

2013-04-01

Full Text Available Probabilistic methods have been proven to be effective for robotic path planning in a geometrically complex environment. In this paper, we propose a novel approach, which utilizes a specialized roadmap expansion phase, to improve lazy probabilistic path planning. This expansion phase analyses roadmap connectivity information to bias sampling towards objects in the workspace that have not yet been navigated by the robot. A new method to reduce the number of samples required to navigate narrow passages is also proposed and tested. Experimental results show that the new algorithm is more efficient than the traditional path planning methodologies. It was able to generate solutions for a variety of path planning problems faster, using fewer samples to arrive at a valid solution.

Rare events in many-body systems: reactive paths and reaction constants for structural transitions

International Nuclear Information System (INIS)

Picciani, M.

2012-01-01

This PhD thesis deals with the study of fundamental physics phenomena, with applications to nuclear materials of interest. We have developed methods for the study of rare events related to thermally activated structural transitions in many body systems. The first method involves the numerical simulation of the probability current associated with reactive paths. After deriving the evolution equations for the probability current, a Diffusion Monte Carlo algorithm is implemented in order to sample this current. This technique, called Transition Current Sampling was applied to the study of structural transitions in a cluster of 38 atoms with Lennard-Jones potential (LJ-38). A second algorithm, called Transition Path Sampling with local Lyapunov bias (LyTPS), was then developed. LyTPS calculates reaction rates at finite temperature by following the transition state theory. A statistical bias based on the maximum local Lyapunov exponents is introduced to accelerate the sampling of reactive trajectories. To extract the value of the equilibrium reaction constants obtained from LyTPS, we use the Multistate Bennett Acceptance Ratio. We again validate this method on the LJ-38 cluster. LyTPS is then used to calculate migration constants for vacancies and divacancies in the α-Iron, and the associated migration entropy. These constants are used as input parameter for codes modeling the kinetic evolution after irradiation (First Passage Kinetic Monte Carlo) to reproduce numerically resistivity recovery experiments in α-Iron. (author) [fr

External Memory Algorithms for Diameter and All-Pair Shortest-Paths on Sparse Graphs

DEFF Research Database (Denmark)

Arge, Lars; Meyer, Ulrich; Toma, Laura

2004-01-01

We present several new external-memory algorithms for finding all-pairs shortest paths in a V -node, Eedge undirected graph. For all-pairs shortest paths and diameter in unweighted undirected graphs we present cache-oblivious algorithms with O(V · E B logM B E B) I/Os, where B is the block-size a...

Exploring chemical reaction mechanisms through harmonic Fourier beads path optimization.

Science.gov (United States)

Khavrutskii, Ilja V; Smith, Jason B; Wallqvist, Anders

2013-10-28

Here, we apply the harmonic Fourier beads (HFB) path optimization method to study chemical reactions involving covalent bond breaking and forming on quantum mechanical (QM) and hybrid QM∕molecular mechanical (QM∕MM) potential energy surfaces. To improve efficiency of the path optimization on such computationally demanding potentials, we combined HFB with conjugate gradient (CG) optimization. The combined CG-HFB method was used to study two biologically relevant reactions, namely, L- to D-alanine amino acid inversion and alcohol acylation by amides. The optimized paths revealed several unexpected reaction steps in the gas phase. For example, on the B3LYP∕6-31G(d,p) potential, we found that alanine inversion proceeded via previously unknown intermediates, 2-iminopropane-1,1-diol and 3-amino-3-methyloxiran-2-ol. The CG-HFB method accurately located transition states, aiding in the interpretation of complex reaction mechanisms. Thus, on the B3LYP∕6-31G(d,p) potential, the gas phase activation barriers for the inversion and acylation reactions were 50.5 and 39.9 kcal∕mol, respectively. These barriers determine the spontaneous loss of amino acid chirality and cleavage of peptide bonds in proteins. We conclude that the combined CG-HFB method further advances QM and QM∕MM studies of reaction mechanisms.

Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

Science.gov (United States)

Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro

This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm

Directory of Open Access Journals (Sweden)

Yi Zhang

2016-01-01

Full Text Available Path planning is critical to the efficiency and fidelity of robot navigation. The solution of robot path planning is to seek a collision-free and the shortest path from the start node to target node. In this paper, we propose a new improved artificial fish swarm algorithm (IAFSA to process the mobile robot path planning problem in a real environment. In IAFSA, an attenuation function is introduced to improve the visual of standard AFSA and get the balance of global search and local search; also, an adaptive operator is introduced to enhance the adaptive ability of step. Besides, a concept of inertia weight factor is proposed in IAFSA inspired by PSO intelligence algorithm to improve the convergence rate and accuracy of IAFSA. Five unconstrained optimization test functions are given to illustrate the strong searching ability and ideal convergence of IAFSA. Finally, the ROS (robot operation system based experiment is carried out on a Pioneer 3-DX mobile robot; the experiment results also show the superiority of IAFSA.

A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.

Science.gov (United States)

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.

ESHOPPS: A COMPUTATIONAL TOOL TO AID THE TEACHING OF SHORTEST PATH ALGORITHMS

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S. J. de A. LIMA

2015-07-01

Full Text Available The development of a computational tool called EShoPPS – Environment for Shortest Path Problem Solving, which is used to assist students in understanding the working of Dijkstra, Greedy search and A*(star algorithms is presented in this paper. Such algorithms are commonly taught in graduate and undergraduate courses of Engineering and Informatics and are used for solving many optimization problems that can be characterized as Shortest Path Problem. The EShoPPS is an interactive tool that allows students to create a graph representing the problem and also helps in developing their knowledge of each specific algorithm. Experiments performed with 155 students of undergraduate and graduate courses such as Industrial Engineering, Computer Science and Information Systems have shown that by using the EShoPPS tool students were able to improve their interpretation of investigated algorithms.

Stochastic reaction-diffusion algorithms for macromolecular crowding

Science.gov (United States)

Sturrock, Marc

2016-06-01

Compartment-based (lattice-based) reaction-diffusion algorithms are often used for studying complex stochastic spatio-temporal processes inside cells. In this paper the influence of macromolecular crowding on stochastic reaction-diffusion simulations is investigated. Reaction-diffusion processes are considered on two different kinds of compartmental lattice, a cubic lattice and a hexagonal close packed lattice, and solved using two different algorithms, the stochastic simulation algorithm and the spatiocyte algorithm (Arjunan and Tomita 2010 Syst. Synth. Biol. 4, 35-53). Obstacles (modelling macromolecular crowding) are shown to have substantial effects on the mean squared displacement and average number of molecules in the domain but the nature of these effects is dependent on the choice of lattice, with the cubic lattice being more susceptible to the effects of the obstacles. Finally, improvements for both algorithms are presented.

A Novel Path Planning for Robots Based on Rapidly-Exploring Random Tree and Particle Swarm Optimizer Algorithm

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Zhou Feng

2013-09-01

Full Text Available A based on Rapidly-exploring Random Tree(RRT and Particle Swarm Optimizer (PSO for path planning of the robot is proposed.First the grid method is built to describe the working space of the mobile robot,then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path,and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably.

Floyd-warshall algorithm to determine the shortest path based on android

Science.gov (United States)

Ramadiani; Bukhori, D.; Azainil; Dengen, N.

2018-04-01

The development of technology has made all areas of life easier now, one of which is the ease of obtaining geographic information. The use of geographic information may vary according to need, for example, the digital map learning, navigation systems, observations area, and much more. With the support of adequate infrastructure, almost no one will ever get lost to a destination even to foreign places or that have never been visited before. The reasons why many institutions and business entities use technology to improve services to consumers and to streamline the production process undertaken and so forth. Speaking of the efficient, there are many elements related to efficiency in navigation systems, and one of them is the efficiency in terms of distance. The shortest distance determination algorithm required in this research is used Floyd-Warshall Algorithm. Floyd-Warshall algorithm is the algorithm to find the fastest path and the shortest distance between 2 nodes, while the program is intended to find the path of more than 2 nodes.

Superlinear convergence of a symmetric primal-dual path following algorithm for semidefinite programming

NARCIS (Netherlands)

Z-Q. Luo; J.F. Sturm; S. Zhang (Shuzhong)

1996-01-01

textabstractThis paper establishes the superlinear convergence of a symmetric primal-dual path following algorithm for semidefinite programming under the assumptions that the semidefinite program has a strictly complementary primal-dual optimal solution and that the size of the central path

A Scheduling Algorithm for Cloud Computing System Based on the Driver of Dynamic Essential Path.

Science.gov (United States)

Xie, Zhiqiang; Shao, Xia; Xin, Yu

2016-01-01

To solve the problem of task scheduling in the cloud computing system, this paper proposes a scheduling algorithm for cloud computing based on the driver of dynamic essential path (DDEP). This algorithm applies a predecessor-task layer priority strategy to solve the problem of constraint relations among task nodes. The strategy assigns different priority values to every task node based on the scheduling order of task node as affected by the constraint relations among task nodes, and the task node list is generated by the different priority value. To address the scheduling order problem in which task nodes have the same priority value, the dynamic essential long path strategy is proposed. This strategy computes the dynamic essential path of the pre-scheduling task nodes based on the actual computation cost and communication cost of task node in the scheduling process. The task node that has the longest dynamic essential path is scheduled first as the completion time of task graph is indirectly influenced by the finishing time of task nodes in the longest dynamic essential path. Finally, we demonstrate the proposed algorithm via simulation experiments using Matlab tools. The experimental results indicate that the proposed algorithm can effectively reduce the task Makespan in most cases and meet a high quality performance objective.

Optimal solution for travelling salesman problem using heuristic shortest path algorithm with imprecise arc length

Science.gov (United States)

Bakar, Sumarni Abu; Ibrahim, Milbah

2017-08-01

The shortest path problem is a popular problem in graph theory. It is about finding a path with minimum length between a specified pair of vertices. In any network the weight of each edge is usually represented in a form of crisp real number and subsequently the weight is used in the calculation of shortest path problem using deterministic algorithms. However, due to failure, uncertainty is always encountered in practice whereby the weight of edge of the network is uncertain and imprecise. In this paper, a modified algorithm which utilized heuristic shortest path method and fuzzy approach is proposed for solving a network with imprecise arc length. Here, interval number and triangular fuzzy number in representing arc length of the network are considered. The modified algorithm is then applied to a specific example of the Travelling Salesman Problem (TSP). Total shortest distance obtained from this algorithm is then compared with the total distance obtained from traditional nearest neighbour heuristic algorithm. The result shows that the modified algorithm can provide not only on the sequence of visited cities which shown to be similar with traditional approach but it also provides a good measurement of total shortest distance which is lesser as compared to the total shortest distance calculated using traditional approach. Hence, this research could contribute to the enrichment of methods used in solving TSP.

Path planning algorithms for assembly sequence planning. [in robot kinematics

Science.gov (United States)

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.

Optimal path planning for a mobile robot using cuckoo search algorithm

Science.gov (United States)

Mohanty, Prases K.; Parhi, Dayal R.

2016-03-01

The shortest/optimal path planning is essential for efficient operation of autonomous vehicles. In this article, a new nature-inspired meta-heuristic algorithm has been applied for mobile robot path planning in an unknown or partially known environment populated by a variety of static obstacles. This meta-heuristic algorithm is based on the levy flight behaviour and brood parasitic behaviour of cuckoos. A new objective function has been formulated between the robots and the target and obstacles, which satisfied the conditions of obstacle avoidance and target-seeking behaviour of robots present in the terrain. Depending upon the objective function value of each nest (cuckoo) in the swarm, the robot avoids obstacles and proceeds towards the target. The smooth optimal trajectory is framed with this algorithm when the robot reaches its goal. Some simulation and experimental results are presented at the end of the paper to show the effectiveness of the proposed navigational controller.

Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

Science.gov (United States)

Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs

Science.gov (United States)

Gudmundsson, Snorri

This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm. automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.”.

A Novel Dual Separate Paths (DSP) Algorithm Providing Fault-Tolerant Communication for Wireless Sensor Networks.

Science.gov (United States)

Tien, Nguyen Xuan; Kim, Semog; Rhee, Jong Myung; Park, Sang Yoon

2017-07-25

Fault tolerance has long been a major concern for sensor communications in fault-tolerant cyber physical systems (CPSs). Network failure problems often occur in wireless sensor networks (WSNs) due to various factors such as the insufficient power of sensor nodes, the dislocation of sensor nodes, the unstable state of wireless links, and unpredictable environmental interference. Fault tolerance is thus one of the key requirements for data communications in WSN applications. This paper proposes a novel path redundancy-based algorithm, called dual separate paths (DSP), that provides fault-tolerant communication with the improvement of the network traffic performance for WSN applications, such as fault-tolerant CPSs. The proposed DSP algorithm establishes two separate paths between a source and a destination in a network based on the network topology information. These paths are node-disjoint paths and have optimal path distances. Unicast frames are delivered from the source to the destination in the network through the dual paths, providing fault-tolerant communication and reducing redundant unicast traffic for the network. The DSP algorithm can be applied to wired and wireless networks, such as WSNs, to provide seamless fault-tolerant communication for mission-critical and life-critical applications such as fault-tolerant CPSs. The analyzed and simulated results show that the DSP-based approach not only provides fault-tolerant communication, but also improves network traffic performance. For the case study in this paper, when the DSP algorithm was applied to high-availability seamless redundancy (HSR) networks, the proposed DSP-based approach reduced the network traffic by 80% to 88% compared with the standard HSR protocol, thus improving network traffic performance.

An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning

Directory of Open Access Journals (Sweden)

Nizar Hadi Abbas

2016-07-01

Full Text Available This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper pa‌th from the start to the destination position with minimum distance and time.

An Improved Ant Colony Algorithm for Solving the Path Planning Problem of the Omnidirectional Mobile Vehicle

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Jiang Zhao

2016-01-01

Full Text Available This paper presents an improved ant colony algorithm for the path planning of the omnidirectional mobile vehicle. The purpose of the improved ant colony algorithm is to design an appropriate route to connect the starting point and ending point of the environment with obstacles. Ant colony algorithm, which is used to solve the path planning problem, is improved according to the characteristics of the omnidirectional mobile vehicle. And in the improved algorithm, the nonuniform distribution of the initial pheromone and the selection strategy with direction play a very positive role in the path search. The coverage and updating strategy of pheromone is introduced to avoid repeated search reducing the effect of the number of ants on the performance of the algorithm. In addition, the pheromone evaporation coefficient is segmented and adjusted, which can effectively balance the convergence speed and search ability. Finally, this paper provides a theoretical basis for the improved ant colony algorithm by strict mathematical derivation, and some numerical simulations are also given to illustrate the effectiveness of the theoretical results.

Comparison of Genetic Algorithm and Hill Climbing for Shortest Path Optimization Mapping

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Fronita Mona

2018-01-01

Full Text Available Traveling Salesman Problem (TSP is an optimization to find the shortest path to reach several destinations in one trip without passing through the same city and back again to the early departure city, the process is applied to the delivery systems. This comparison is done using two methods, namely optimization genetic algorithm and hill climbing. Hill Climbing works by directly selecting a new path that is exchanged with the neighbour’s to get the track distance smaller than the previous track, without testing. Genetic algorithms depend on the input parameters, they are the number of population, the probability of crossover, mutation probability and the number of generations. To simplify the process of determining the shortest path supported by the development of software that uses the google map API. Tests carried out as much as 20 times with the number of city 8, 16, 24 and 32 to see which method is optimal in terms of distance and time computation. Based on experiments conducted with a number of cities 3, 4, 5 and 6 producing the same value and optimal distance for the genetic algorithm and hill climbing, the value of this distance begins to differ with the number of city 7. The overall results shows that these tests, hill climbing are more optimal to number of small cities and the number of cities over 30 optimized using genetic algorithms.

Rare events via multiple reaction channels sampled by path replica exchange

NARCIS (Netherlands)

Bolhuis, P.G.

2008-01-01

Transition path sampling (TPS) was developed for studying activated processes in complex systems with unknown reaction coordinate. Transition interface sampling (TIS) allows efficient evaluation of the rate constants. However, when the transition can occur via more than one reaction channel

Comparison of some evolutionary algorithms for optimization of the path synthesis problem

Science.gov (United States)

Grabski, Jakub Krzysztof; Walczak, Tomasz; Buśkiewicz, Jacek; Michałowska, Martyna

2018-01-01

The paper presents comparison of the results obtained in a mechanism synthesis by means of some selected evolutionary algorithms. The optimization problem considered in the paper as an example is the dimensional synthesis of the path generating four-bar mechanism. In order to solve this problem, three different artificial intelligence algorithms are employed in this study.

Path searching in switching networks using cellular algorithm

Energy Technology Data Exchange (ETDEWEB)

Koczy, L T; Langer, J; Legendi, T

1981-01-01

After a survey of the important statements in the paper A Mathematical Model of Path Searching in General Type Switching Networks (see IBID., vol.25, no.1, p.31-43, 1981) the authors consider the possible implementation for cellular automata of the algorithm introduced there. The cellular field used consists of 5 neighbour 8 state cells. Running times required by a traditional serial processor and by the cellular field, respectively, are compared. By parallel processing this running time can be reduced. 5 references.

Optimization of IBF parameters based on adaptive tool-path algorithm

Science.gov (United States)

Deng, Wen Hui; Chen, Xian Hua; Jin, Hui Liang; Zhong, Bo; Hou, Jin; Li, An Qi

2018-03-01

As a kind of Computer Controlled Optical Surfacing(CCOS) technology. Ion Beam Figuring(IBF) has obvious advantages in the control of surface accuracy, surface roughness and subsurface damage. The superiority and characteristics of IBF in optical component processing are analyzed from the point of view of removal mechanism. For getting more effective and automatic tool path with the information of dwell time, a novel algorithm is proposed in this thesis. Based on the removal functions made through our IBF equipment and the adaptive tool-path, optimized parameters are obtained through analysis the residual error that would be created in the polishing process. A Φ600 mm plane reflector element was used to be a simulation instance. The simulation result shows that after four combinations of processing, the surface accuracy of PV (Peak Valley) value and the RMS (Root Mean Square) value was reduced to 4.81 nm and 0.495 nm from 110.22 nm and 13.998 nm respectively in the 98% aperture. The result shows that the algorithm and optimized parameters provide a good theoretical for high precision processing of IBF.

A MODIFIED GENETIC ALGORITHM FOR FINDING FUZZY SHORTEST PATHS IN UNCERTAIN NETWORKS

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A. A. Heidari

2016-06-01

Full Text Available In realistic network analysis, there are several uncertainties in the measurements and computation of the arcs and vertices. These uncertainties should also be considered in realizing the shortest path problem (SPP due to the inherent fuzziness in the body of expert's knowledge. In this paper, we investigated the SPP under uncertainty to evaluate our modified genetic strategy. We improved the performance of genetic algorithm (GA to investigate a class of shortest path problems on networks with vague arc weights. The solutions of the uncertain SPP with considering fuzzy path lengths are examined and compared in detail. As a robust metaheuristic, GA algorithm is modified and evaluated to tackle the fuzzy SPP (FSPP with uncertain arcs. For this purpose, first, a dynamic operation is implemented to enrich the exploration/exploitation patterns of the conventional procedure and mitigate the premature convergence of GA technique. Then, the modified GA (MGA strategy is used to resolve the FSPP. The attained results of the proposed strategy are compared to those of GA with regard to the cost, quality of paths and CPU times. Numerical instances are provided to demonstrate the success of the proposed MGA-FSPP strategy in comparison with GA. The simulations affirm that not only the proposed technique can outperform GA, but also the qualities of the paths are effectively improved. The results clarify that the competence of the proposed GA is preferred in view of quality quantities. The results also demonstrate that the proposed method can efficiently be utilized to handle FSPP in uncertain networks.

Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm

Directory of Open Access Journals (Sweden)

Lavrenov Roman

2017-01-01

Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

Solving fuzzy shortest path problem by genetic algorithm

Science.gov (United States)

Syarif, A.; Muludi, K.; Adrian, R.; Gen, M.

2018-03-01

Shortest Path Problem (SPP) is known as one of well-studied fields in the area Operations Research and Mathematical Optimization. It has been applied for many engineering and management designs. The objective is usually to determine path(s) in the network with minimum total cost or traveling time. In the past, the cost value for each arc was usually assigned or estimated as a deteministic value. For some specific real world applications, however, it is often difficult to determine the cost value properly. One way of handling such uncertainty in decision making is by introducing fuzzy approach. With this situation, it will become difficult to solve the problem optimally. This paper presents the investigations on the application of Genetic Algorithm (GA) to a new SPP model in which the cost values are represented as Triangular Fuzzy Number (TFN). We adopts the concept of ranking fuzzy numbers to determine how good the solutions. Here, by giving his/her degree value, the decision maker can determine the range of objective value. This would be very valuable for decision support system in the real world applications.Simulation experiments were carried out by modifying several test problems with 10-25 nodes. It is noted that the proposed approach is capable attaining a good solution with different degree of optimism for the tested problems.

Research and application of genetic algorithm in path planning of logistics distribution vehicle

Science.gov (United States)

Wang, Yong; Zhou, Heng; Wang, Ying

2017-08-01

The core of the logistics distribution system is the vehicle routing planning, research path planning problem, provide a better solution has become an important issue. In order to provide the decision support for logistics and distribution operations, this paper studies the problem of vehicle routing with capacity constraints (CVRP). By establishing a mathematical model, the genetic algorithm is used to plan the path of the logistics vehicle to meet the minimum logistics and transportation costs.

Application of backtracking algorithm to depletion calculations

International Nuclear Information System (INIS)

Wu Mingyu; Wang Shixi; Yang Yong; Zhang Qiang; Yang Jiayin

2013-01-01

Based on the theory of linear chain method for analytical depletion calculations, the burnup matrix is decoupled by the divide and conquer strategy and the linear chain with Markov characteristic is formed. The density, activity and decay heat of every nuclide in the chain then can be calculated by analytical solutions. Every possible reaction path of the nuclide must be considered during the linear chain establishment process. To confirm the calculation precision and efficiency, the algorithm which can cover all the reaction paths and search the paths automatically according to the problem description and precision restrictions should be found. Through analysis and comparison of several kinds of searching algorithms, the backtracking algorithm was selected to establish and calculate the linear chains in searching process using depth first search (DFS) method, forming an algorithm which can solve the depletion problem adaptively and with high fidelity. The complexity of the solution space and time was analyzed by taking into account depletion process and the characteristics of the backtracking algorithm. The newly developed depletion program was coupled with Monte Carlo program MCMG-Ⅱ to calculate the benchmark burnup problem of the first core of China Experimental Fast Reactor (CEFR) and the preliminary verification and validation of the program were performed. (authors)

Comparison of the efficiency of two algorithms which solve the shortest path problem with an emotional agent

Directory of Open Access Journals (Sweden)

Petruseva Silvana

2006-01-01

Full Text Available This paper discusses the comparison of the efficiency of two algorithms, by estimation of their complexity. For solving the problem, the Neural Network Crossbar Adaptive Array (NN-CAA is used as the agent architecture, implementing a model of an emotion. The problem discussed is how to find the shortest path in an environment with n states. The domains concerned are environments with n states, one of which is the starting state, one is the goal state, and some states are undesirable and they should be avoided. It is obtained that finding one path (one solution is efficient, i.e. in polynomial time by both algorithms. One of the algorithms is faster than the other only in the multiplicative constant, and it shows a step forward toward the optimality of the learning process. However, finding the optimal solution (the shortest path by both algorithms is in exponential time which is asserted by two theorems. It might be concluded that the concept of subgoal is one step forward toward the optimality of the process of the agent learning. Yet, it should be explored further on, in order to obtain an efficient, polynomial algorithm.

From Enumerating to Generating: A Linear Time Algorithm for Generating 2D Lattice Paths with a Given Number of Turns

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Ting Kuo

2015-05-01

Full Text Available We propose a linear time algorithm, called G2DLP, for generating 2D lattice L(n1, n2 paths, equivalent to two-item  multiset permutations, with a given number of turns. The usage of turn has three meanings: in the context of multiset permutations, it means that two consecutive elements of a permutation belong to two different items; in lattice path enumerations, it means that the path changes its direction, either from eastward to northward or from northward to eastward; in open shop scheduling, it means that we transfer a job from one type of machine to another. The strategy of G2DLP is divide-and-combine; the division is based on the enumeration results of a previous study and is achieved by aid of an integer partition algorithm and a multiset permutation algorithm; the combination is accomplished by a concatenation algorithm that constructs the paths we require. The advantage of G2DLP is twofold. First, it is optimal in the sense that it directly generates all feasible paths without visiting an infeasible one. Second, it can generate all paths in any specified order of turns, for example, a decreasing order or an increasing order. In practice, two applications, scheduling and cryptography, are discussed.

A quantum generalization of intrinsic reaction coordinate using path integral centroid coordinates

International Nuclear Information System (INIS)

Shiga, Motoyuki; Fujisaki, Hiroshi

2012-01-01

We propose a generalization of the intrinsic reaction coordinate (IRC) for quantum many-body systems described in terms of the mass-weighted ring polymer centroids in the imaginary-time path integral theory. This novel kind of reaction coordinate, which may be called the ''centroid IRC,'' corresponds to the minimum free energy path connecting reactant and product states with a least amount of reversible work applied to the center of masses of the quantum nuclei, i.e., the centroids. We provide a numerical procedure to obtain the centroid IRC based on first principles by combining ab initio path integral simulation with the string method. This approach is applied to NH 3 molecule and N 2 H 5 - ion as well as their deuterated isotopomers to study the importance of nuclear quantum effects in the intramolecular and intermolecular proton transfer reactions. We find that, in the intramolecular proton transfer (inversion) of NH 3 , the free energy barrier for the centroid variables decreases with an amount of about 20% compared to the classical one at the room temperature. In the intermolecular proton transfer of N 2 H 5 - , the centroid IRC is largely deviated from the ''classical'' IRC, and the free energy barrier is reduced by the quantum effects even more drastically.

Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

Science.gov (United States)

Duan, Haibin; Li, Pei; Shi, Yuhui; Zhang, Xiangyin; Sun, Changhao

2015-01-01

This paper describes the development of BOLE, a MATLAB-based interactive learning environment, that facilitates the process of learning bio-inspired optimization algorithms, and that is dedicated exclusively to unmanned aerial vehicle path planning. As a complement to conventional teaching methods, BOLE is designed to help students consolidate the…

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

Science.gov (United States)

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Calibration of neural networks using genetic algorithms, with application to optimal path planning

Science.gov (United States)

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.

A Path-Based Gradient Projection Algorithm for the Cost-Based System Optimum Problem in Networks with Continuously Distributed Value of Time

Directory of Open Access Journals (Sweden)

Wen-Xiang Wu

2014-01-01

Full Text Available The cost-based system optimum problem in networks with continuously distributed value of time is formulated as a path-based form, which cannot be solved by the Frank-Wolfe algorithm. In light of magnitude improvement in the availability of computer memory in recent years, path-based algorithms have been regarded as a viable approach for traffic assignment problems with reasonably large network sizes. We develop a path-based gradient projection algorithm for solving the cost-based system optimum model, based on Goldstein-Levitin-Polyak method which has been successfully applied to solve standard user equilibrium and system optimum problems. The Sioux Falls network tested is used to verify the effectiveness of the algorithm.

An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

Science.gov (United States)

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.

An analysis of 3D particle path integration algorithms

International Nuclear Information System (INIS)

Darmofal, D.L.; Haimes, R.

1996-01-01

Several techniques for the numerical integration of particle paths in steady and unsteady vector (velocity) fields are analyzed. Most of the analysis applies to unsteady vector fields, however, some results apply to steady vector field integration. Multistep, multistage, and some hybrid schemes are considered. It is shown that due to initialization errors, many unsteady particle path integration schemes are limited to third-order accuracy in time. Multistage schemes require at least three times more internal data storage than multistep schemes of equal order. However, for timesteps within the stability bounds, multistage schemes are generally more accurate. A linearized analysis shows that the stability of these integration algorithms are determined by the eigenvalues of the local velocity tensor. Thus, the accuracy and stability of the methods are interpreted with concepts typically used in critical point theory. This paper shows how integration schemes can lead to erroneous classification of critical points when the timestep is finite and fixed. For steady velocity fields, we demonstrate that timesteps outside of the relative stability region can lead to similar integration errors. From this analysis, guidelines for accurate timestep sizing are suggested for both steady and unsteady flows. In particular, using simulation data for the unsteady flow around a tapered cylinder, we show that accurate particle path integration requires timesteps which are at most on the order of the physical timescale of the flow

An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning

Directory of Open Access Journals (Sweden)

Bai Li

2014-01-01

Full Text Available 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.

Dual level reaction-path dynamics calculations on the C2H6 + OH → C2H5 + H2O reaction

International Nuclear Information System (INIS)

Coitino, E.L.; Truhlar, D.G.

1996-01-01

Interpolated Variational Transition State Theory with Multidimensional Tunneling contributions (IVTST/MT) has been applied to the reaction of C 2 H 6 + OH, and it yields rate constants that agree well with the available experimental information. The main disadvantage of this method is the difficulty of interpolating all required information from a few points along the reaction path. A more recent alternative is Variational Transition State Theory with Multidimensional Tunneling and Interpolated Corrections (VTST/MT-IC, also called dual-level direct dynamics), in which the reaction-path properties are first determined at an economical (lower) level of theory and then open-quotes correctedclose quotes using more accurate information obtained at a higher level for a selected number of points on the reaction path. The VTST/MT-IC method also allows for interpolation through die wider reaction swath when large-curvature tunneling occurs. In the present work we examine the affordability/accuracy tradeoff for several combinations of higher and lower levels for VTST/MT-IC reaction rate calculations on the C 2 H 6 + OH process. Various levels of theory (including NDDO-SRP and ab initio ROMP2, UQCISD, UQCISD(T), and UCCSD) have been employed for the electronic structure calculations. We also compare several semiclassical approaches implemented in the POLYRATE and MORATE programs for taking tunneling effects into account

D-leaping: Accelerating stochastic simulation algorithms for reactions with delays

International Nuclear Information System (INIS)

Bayati, Basil; Chatelain, Philippe; Koumoutsakos, Petros

2009-01-01

We propose a novel, accelerated algorithm for the approximate stochastic simulation of biochemical systems with delays. The present work extends existing accelerated algorithms by distributing, in a time adaptive fashion, the delayed reactions so as to minimize the computational effort while preserving their accuracy. The accuracy of the present algorithm is assessed by comparing its results to those of the corresponding delay differential equations for a representative biochemical system. In addition, the fluctuations produced from the present algorithm are comparable to those from an exact stochastic simulation with delays. The algorithm is used to simulate biochemical systems that model oscillatory gene expression. The results indicate that the present algorithm is competitive with existing works for several benchmark problems while it is orders of magnitude faster for certain systems of biochemical reactions.

ReactionMap: an efficient atom-mapping algorithm for chemical reactions.

Science.gov (United States)

Fooshee, David; Andronico, Alessio; Baldi, Pierre

2013-11-25

Large databases of chemical reactions provide new data-mining opportunities and challenges. Key challenges result from the imperfect quality of the data and the fact that many of these reactions are not properly balanced or atom-mapped. Here, we describe ReactionMap, an efficient atom-mapping algorithm. Our approach uses a combination of maximum common chemical subgraph search and minimization of an assignment cost function derived empirically from training data. We use a set of over 259,000 balanced atom-mapped reactions from the SPRESI commercial database to train the system, and we validate it on random sets of 1000 and 17,996 reactions sampled from this pool. These large test sets represent a broad range of chemical reaction types, and ReactionMap correctly maps about 99% of the atoms and about 96% of the reactions, with a mean time per mapping of 2 s. Most correctly mapped reactions are mapped with high confidence. Mapping accuracy compares favorably with ChemAxon's AutoMapper, versions 5 and 6.1, and the DREAM Web tool. These approaches correctly map 60.7%, 86.5%, and 90.3% of the reactions, respectively, on the same data set. A ReactionMap server is available on the ChemDB Web portal at http://cdb.ics.uci.edu .

The mineralogic evolution of the Martian surface through time: Implications from chemical reaction path modeling studies

Science.gov (United States)

Plumlee, G. S.; Ridley, W. I.; Debraal, J. D.; Reed, M. H.

1993-01-01

Chemical reaction path calculations were used to model the minerals that might have formed at or near the Martian surface as a result of volcano or meteorite impact driven hydrothermal systems; weathering at the Martian surface during an early warm, wet climate; and near-zero or sub-zero C brine-regolith reactions in the current cold climate. Although the chemical reaction path calculations carried out do not define the exact mineralogical evolution of the Martian surface over time, they do place valuable geochemical constraints on the types of minerals that formed from an aqueous phase under various surficial and geochemically complex conditions.

An improved stochastic algorithm for temperature-dependent homogeneous gas phase reactions

CERN Document Server

Kraft, M

2003-01-01

We propose an improved stochastic algorithm for temperature-dependent homogeneous gas phase reactions. By combining forward and reverse reaction rates, a significant gain in computational efficiency is achieved. Two modifications of modelling the temperature dependence (with and without conservation of enthalpy) are introduced and studied quantitatively. The algorithm is tested for the combustion of n-heptane, which is a reference fuel component for internal combustion engines. The convergence of the algorithm is studied by a series of numerical experiments and the computational cost of the stochastic algorithm is compared with the DAE code DASSL. If less accuracy is needed the stochastic algorithm is faster on short simulation time intervals. The new stochastic algorithm is significantly faster than the original direct simulation algorithm in all cases considered.

Software news and update PyFrag - Streamlining your reaction path analysis

NARCIS (Netherlands)

van Zeist, W.-J.; Fonseca Guerra, C.; Bickelhaupt, F.M.

2008-01-01

The PyFrag program (released as PyFrag2007.01) is a "wrap-around" for the Amsterdam Density Functional (ADF) package and facilitates the extension of the fragment analysis method implemented in ADF along an entire potential energy surface. The purpose is to make analyses of reaction paths and other

ACL2 Meets the GPU: Formalizing a CUDA-based Parallelizable All-Pairs Shortest Path Algorithm in ACL2

Directory of Open Access Journals (Sweden)

David S. Hardin

2013-04-01

Full Text Available As Graphics Processing Units (GPUs have gained in capability and GPU development environments have matured, developers are increasingly turning to the GPU to off-load the main host CPU of numerically-intensive, parallelizable computations. Modern GPUs feature hundreds of cores, and offer programming niceties such as double-precision floating point, and even limited recursion. This shift from CPU to GPU, however, raises the question: how do we know that these new GPU-based algorithms are correct? In order to explore this new verification frontier, we formalized a parallelizable all-pairs shortest path (APSP algorithm for weighted graphs, originally coded in NVIDIA's CUDA language, in ACL2. The ACL2 specification is written using a single-threaded object (stobj and tail recursion, as the stobj/tail recursion combination yields the most straightforward translation from imperative programming languages, as well as efficient, scalable executable specifications within ACL2 itself. The ACL2 version of the APSP algorithm can process millions of vertices and edges with little to no garbage generation, and executes at one-sixth the speed of a host-based version of APSP coded in C – a very respectable result for a theorem prover. In addition to formalizing the APSP algorithm (which uses Dijkstra's shortest path algorithm at its core, we have also provided capability that the original APSP code lacked, namely shortest path recovery. Path recovery is accomplished using a secondary ACL2 stobj implementing a LIFO stack, which is proven correct. To conclude the experiment, we ported the ACL2 version of the APSP kernels back to C, resulting in a less than 5% slowdown, and also performed a partial back-port to CUDA, which, surprisingly, yielded a slight performance increase.

Estimating the daily solar irradiation on building roofs and facades using Blender Cycles path tracing algorithm

Directory of Open Access Journals (Sweden)

Ilba Mateusz

2016-01-01

Full Text Available The paper presents the development of an daily solar irradiation algorithm with application of the free software Blender. Considerable attention was paid to the possibilities of simulation of reflections of direct and diffuse solar radiation. For this purpose, the rendering algorithm “Cycles” was used, based on the principle of bi-directional path tracing – tracing random paths of light beams. The value of global radiation in this study is the sum of four components: direct beam radiation, reflected beam radiation, diffuse radiation and reflected diffuse radiation. The developed algorithm allows calculation of solar irradiation for all elements of the 3D model created in Blender, or imported from an external source. One minute is the highest possible time resolution of the analysis, while the accuracy is dependent on the resolution of textures defined for each element of a 3D object. The analysed data is stored in the form of textures that in the algorithm are converted to the value of solar radiance. The result of the analysis is visualization, which shows the distribution of daily solar irradiation on all defined elements of the 3D model.

Your choice MATor(s) : large-scale quantitative anonymity assessment of Tor path selection algorithms against structural attacks

OpenAIRE

Backes, Michael; Meiser, Sebastian; Slowik, Marcin

2015-01-01

In this paper, we present a rigorous methodology for quantifying the anonymity provided by Tor against a variety of structural attacks, i.e., adversaries that compromise Tor nodes and thereby perform eavesdropping attacks to deanonymize Tor users. First, we provide an algorithmic approach for computing the anonymity impact of such structural attacks against Tor. The algorithm is parametric in the considered path selection algorithm and is, hence, capable of reasoning about variants of Tor and...

Study on the dominant reaction path in nucleosynthesis during stellar evolution by means of the Monte Carlo method

International Nuclear Information System (INIS)

Yamamoto, K.; Hashizume, K.; Wada, T.; Ohta, M.; Suda, T.; Nishimura, T.; Fujimoto, M. Y.; Kato, K.; Aikawa, M.

2006-01-01

We propose a Monte Carlo method to study the reaction paths in nucleosynthesis during stellar evolution. Determination of reaction paths is important to obtain the physical picture of stellar evolution. The combination of network calculation and our method gives us a better understanding of physical picture. We apply our method to the case of the helium shell flash model in the extremely metal poor star

Simulation of biochemical reactions with time-dependent rates by the rejection-based algorithm

Energy Technology Data Exchange (ETDEWEB)

Thanh, Vo Hong, E-mail: vo@cosbi.eu [The Microsoft Research - University of Trento Centre for Computational and Systems Biology, Piazza Manifattura 1, Rovereto 38068 (Italy); Priami, Corrado, E-mail: priami@cosbi.eu [The Microsoft Research - University of Trento Centre for Computational and Systems Biology, Piazza Manifattura 1, Rovereto 38068 (Italy); Department of Mathematics, University of Trento, Trento (Italy)

2015-08-07

We address the problem of simulating biochemical reaction networks with time-dependent rates and propose a new algorithm based on our rejection-based stochastic simulation algorithm (RSSA) [Thanh et al., J. Chem. Phys. 141(13), 134116 (2014)]. The computation for selecting next reaction firings by our time-dependent RSSA (tRSSA) is computationally efficient. Furthermore, the generated trajectory is exact by exploiting the rejection-based mechanism. We benchmark tRSSA on different biological systems with varying forms of reaction rates to demonstrate its applicability and efficiency. We reveal that for nontrivial cases, the selection of reaction firings in existing algorithms introduces approximations because the integration of reaction rates is very computationally demanding and simplifying assumptions are introduced. The selection of the next reaction firing by our approach is easier while preserving the exactness.

An improved optimum-path forest clustering algorithm for remote sensing image segmentation

Science.gov (United States)

Chen, Siya; Sun, Tieli; Yang, Fengqin; Sun, Hongguang; Guan, Yu

2018-03-01

Remote sensing image segmentation is a key technology for processing remote sensing images. The image segmentation results can be used for feature extraction, target identification and object description. Thus, image segmentation directly affects the subsequent processing results. This paper proposes a novel Optimum-Path Forest (OPF) clustering algorithm that can be used for remote sensing segmentation. The method utilizes the principle that the cluster centres are characterized based on their densities and the distances between the centres and samples with higher densities. A new OPF clustering algorithm probability density function is defined based on this principle and applied to remote sensing image segmentation. Experiments are conducted using five remote sensing land cover images. The experimental results illustrate that the proposed method can outperform the original OPF approach.

An improved particle filtering algorithm for aircraft engine gas-path fault diagnosis

Directory of Open Access Journals (Sweden)

Qihang Wang

2016-07-01

Full Text Available In this article, an improved particle filter with electromagnetism-like mechanism algorithm is proposed for aircraft engine gas-path component abrupt fault diagnosis. In order to avoid the particle degeneracy and sample impoverishment of normal particle filter, the electromagnetism-like mechanism optimization algorithm is introduced into resampling procedure, which adjusts the position of the particles through simulating attraction–repulsion mechanism between charged particles of the electromagnetism theory. The improved particle filter can solve the particle degradation problem and ensure the diversity of the particle set. Meanwhile, it enhances the ability of tracking abrupt fault due to considering the latest measurement information. Comparison of the proposed method with three different filter algorithms is carried out on a univariate nonstationary growth model. Simulations on a turbofan engine model indicate that compared to the normal particle filter, the improved particle filter can ensure the completion of the fault diagnosis within less sampling period and the root mean square error of parameters estimation is reduced.

Shortest Paths and Vehicle Routing

DEFF Research Database (Denmark)

Petersen, Bjørn

This thesis presents how to parallelize a shortest path labeling algorithm. It is shown how to handle Chvátal-Gomory rank-1 cuts in a column generation context. A Branch-and-Cut algorithm is given for the Elementary Shortest Paths Problem with Capacity Constraint. A reformulation of the Vehicle...... Routing Problem based on partial paths is presented. Finally, a practical application of finding shortest paths in the telecommunication industry is shown....

Welding Robot Collision-Free Path Optimization

Directory of Open Access Journals (Sweden)

Xuewu Wang

2017-02-01

Full Text Available Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.

The Forward-Reverse Algorithm for Stochastic Reaction Networks

KAUST Repository

Bayer, Christian; Moraes, Alvaro; Tempone, Raul; Vilanova, Pedro

2015-01-01

In this work, we present an extension of the forward-reverse algorithm by Bayer and Schoenmakers [2] to the context of stochastic reaction networks (SRNs). We then apply this bridge-generation technique to the statistical inference problem

The Forward-Reverse Algorithm for Stochastic Reaction Networks

KAUST Repository

Bayer, Christian

2015-01-07

In this work, we present an extension of the forward-reverse algorithm by Bayer and Schoenmakers [2] to the context of stochastic reaction networks (SRNs). We then apply this bridge-generation technique to the statistical inference problem of approximating the reaction coefficients based on discretely observed data. To this end, we introduce a two-phase iterative inference method in which we solve a set of deterministic optimization problems where the SRNs are replaced by the classical ODE rates; then, during the second phase, the Monte Carlo version of the EM algorithm is applied starting from the output of the previous phase. Starting from a set of over-dispersed seeds, the output of our two-phase method is a cluster of maximum likelihood estimates obtained by using convergence assessment techniques from the theory of Markov chain Monte Carlo.

Two-scale large deviations for chemical reaction kinetics through second quantization path integral

International Nuclear Information System (INIS)

Li, Tiejun; Lin, Feng

2016-01-01

Motivated by the study of rare events for a typical genetic switching model in systems biology, in this paper we aim to establish the general two-scale large deviations for chemical reaction systems. We build a formal approach to explicitly obtain the large deviation rate functionals for the considered two-scale processes based upon the second quantization path integral technique. We get three important types of large deviation results when the underlying two timescales are in three different regimes. This is realized by singular perturbation analysis to the rate functionals obtained by the path integral. We find that the three regimes possess the same deterministic mean-field limit but completely different chemical Langevin approximations. The obtained results are natural extensions of the classical large volume limit for chemical reactions. We also discuss its implication on the single-molecule Michaelis–Menten kinetics. Our framework and results can be applied to understand general multi-scale systems including diffusion processes. (paper)

A Multilevel Adaptive Reaction-splitting Simulation Method for Stochastic Reaction Networks

KAUST Repository

Moraes, Alvaro; Tempone, Raul; Vilanova, Pedro

2016-01-01

In this work, we present a novel multilevel Monte Carlo method for kinetic simulation of stochastic reaction networks characterized by having simultaneously fast and slow reaction channels. To produce efficient simulations, our method adaptively classifies the reactions channels into fast and slow channels. To this end, we first introduce a state-dependent quantity named level of activity of a reaction channel. Then, we propose a low-cost heuristic that allows us to adaptively split the set of reaction channels into two subsets characterized by either a high or a low level of activity. Based on a time-splitting technique, the increments associated with high-activity channels are simulated using the tau-leap method, while those associated with low-activity channels are simulated using an exact method. This path simulation technique is amenable for coupled path generation and a corresponding multilevel Monte Carlo algorithm. To estimate expected values of observables of the system at a prescribed final time, our method bounds the global computational error to be below a prescribed tolerance, TOL, within a given confidence level. This goal is achieved with a computational complexity of order O(TOL-2), the same as with a pathwise-exact method, but with a smaller constant. We also present a novel low-cost control variate technique based on the stochastic time change representation by Kurtz, showing its performance on a numerical example. We present two numerical examples extracted from the literature that show how the reaction-splitting method obtains substantial gains with respect to the standard stochastic simulation algorithm and the multilevel Monte Carlo approach by Anderson and Higham. © 2016 Society for Industrial and Applied Mathematics.

A Multilevel Adaptive Reaction-splitting Simulation Method for Stochastic Reaction Networks

KAUST Repository

Moraes, Alvaro

2016-07-07

In this work, we present a novel multilevel Monte Carlo method for kinetic simulation of stochastic reaction networks characterized by having simultaneously fast and slow reaction channels. To produce efficient simulations, our method adaptively classifies the reactions channels into fast and slow channels. To this end, we first introduce a state-dependent quantity named level of activity of a reaction channel. Then, we propose a low-cost heuristic that allows us to adaptively split the set of reaction channels into two subsets characterized by either a high or a low level of activity. Based on a time-splitting technique, the increments associated with high-activity channels are simulated using the tau-leap method, while those associated with low-activity channels are simulated using an exact method. This path simulation technique is amenable for coupled path generation and a corresponding multilevel Monte Carlo algorithm. To estimate expected values of observables of the system at a prescribed final time, our method bounds the global computational error to be below a prescribed tolerance, TOL, within a given confidence level. This goal is achieved with a computational complexity of order O(TOL-2), the same as with a pathwise-exact method, but with a smaller constant. We also present a novel low-cost control variate technique based on the stochastic time change representation by Kurtz, showing its performance on a numerical example. We present two numerical examples extracted from the literature that show how the reaction-splitting method obtains substantial gains with respect to the standard stochastic simulation algorithm and the multilevel Monte Carlo approach by Anderson and Higham. © 2016 Society for Industrial and Applied Mathematics.

A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.

Science.gov (United States)

Ayari, Asma; Bouamama, Sadok

2017-01-01

Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.

A sum-over-paths algorithm for third-order impulse-response moment extraction within RC IC-interconnect networks

Science.gov (United States)

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.

Every photon counts : understanding and optimizing photon paths in luminescent solar concentrator-based photomicroreactors (LSCPMs)

NARCIS (Netherlands)

Cambié, D.; Zhao, F.; Hessel, V.; Debije, M.G.; Noël, T.

2017-01-01

Luminescent solar concentrator-based photomicroreactors (LSC-PMs) have been recently proposed for sustainable and energy-efficient photochemical reactions. Herein, a Monte Carlo ray tracing algorithm to simulate photon paths within LSC-PMs was developed and experimentally validated. The simulation

Application of path integral method to heavy ion reactions, 1. General formalism

Energy Technology Data Exchange (ETDEWEB)

Fujita, J; Negishi, T [Tokyo Univ. of Education (Japan). Dept. of Physics

1976-03-01

The semiclassical approach for heavy ion reactions has become more and more important in analyzing rapidly accumulating data. The purpose of this paper is to lay a quantum-mechanical foundation of the conventional semiclassical treatments in heavy ion physics by using Feynman's path integral method on the basis of the second paper of Pechukas, and discuss simple consequences of the formalism.

Exact and Heuristic Algorithms for Routing AGV on Path with Precedence Constraints

Directory of Open Access Journals (Sweden)

Liang Xu

2016-01-01

Full Text Available A new problem arises when an automated guided vehicle (AGV is dispatched to visit a set of customers, which are usually located along a fixed wire transmitting signal to navigate the AGV. An optimal visiting sequence is desired with the objective of minimizing the total travelling distance (or time. When precedence constraints are restricted on customers, the problem is referred to as traveling salesman problem on path with precedence constraints (TSPP-PC. Whether or not it is NP-complete has no answer in the literature. In this paper, we design dynamic programming for the TSPP-PC, which is the first polynomial-time exact algorithm when the number of precedence constraints is a constant. For the problem with number of precedence constraints, part of the input can be arbitrarily large, so we provide an efficient heuristic based on the exact algorithm.

Impacts of Different Mobile User Interfaces on Students’ Satisfaction for Learning Dijkstra’s Shortest Path Algorithm

Directory of Open Access Journals (Sweden)

Mazyar Seraj

2014-10-01

Full Text Available This paper describes an experimental study of learning Dijkstra’s shortest path algorithm on mobile devices. The aim of the study is to investigate and compare the impacts of two different mobile screen user interfaces on students’ satisfaction for learning the technical subject. A mobile learning prototype was developed for learning Dijkstra’s shortest path algorithm on Apple iPhone 4 operated on iPhone operating system (iOS, and Acer Inconia Tab operated on an Android operating system. Thirty students, who are either currently studying or had previously studied Computer Networks, were recruited for the usability trial. At the end of each single session, students’ satisfaction interacting with the two mobile devices was measured using QUIS questionnaire. Although there is no significant difference in students’ satisfaction between the two different mobile screen interfaces, the subjective findings indicate that Acer Inconia Tab gained higher scores as compared to Apple iPhone 4.

An Efficient Forward-Reverse EM Algorithm for Statistical Inference in Stochastic Reaction Networks

KAUST Repository

Bayer, Christian

2016-01-06

In this work [1], we present an extension of the forward-reverse algorithm by Bayer and Schoenmakers [2] to the context of stochastic reaction networks (SRNs). We then apply this bridge-generation technique to the statistical inference problem of approximating the reaction coefficients based on discretely observed data. To this end, we introduce an efficient two-phase algorithm in which the first phase is deterministic and it is intended to provide a starting point for the second phase which is the Monte Carlo EM Algorithm.

A focussed dynamic path finding algorithm with constraints

CSIR Research Space (South Africa)

Leenen, L

2013-11-01

Full Text Available heuristic to focus the search for an optimal path. Existing approaches to solving path planning problems tend to combine path costs with various other criteria such as obstacle avoidance in the objective function which is being optimised. The authors...

Multiscale Reaction-Diffusion Algorithms: PDE-Assisted Brownian Dynamics

KAUST Repository

Franz, Benjamin

2013-06-19

Two algorithms that combine Brownian dynami cs (BD) simulations with mean-field partial differential equations (PDEs) are presented. This PDE-assisted Brownian dynamics (PBD) methodology provides exact particle tracking data in parts of the domain, whilst making use of a mean-field reaction-diffusion PDE description elsewhere. The first PBD algorithm couples BD simulations with PDEs by randomly creating new particles close to the interface, which partitions the domain, and by reincorporating particles into the continuum PDE-description when they cross the interface. The second PBD algorithm introduces an overlap region, where both descriptions exist in parallel. It is shown that the overlap region is required to accurately compute variances using PBD simulations. Advantages of both PBD approaches are discussed and illustrative numerical examples are presented. © 2013 Society for Industrial and Applied Mathematics.

Automated Prediction of Catalytic Mechanism and Rate Law Using Graph-Based Reaction Path Sampling.

Science.gov (United States)

Habershon, Scott

2016-04-12

In a recent article [ J. Chem. Phys. 2015 , 143 , 094106 ], we introduced a novel graph-based sampling scheme which can be used to generate chemical reaction paths in many-atom systems in an efficient and highly automated manner. The main goal of this work is to demonstrate how this approach, when combined with direct kinetic modeling, can be used to determine the mechanism and phenomenological rate law of a complex catalytic cycle, namely cobalt-catalyzed hydroformylation of ethene. Our graph-based sampling scheme generates 31 unique chemical products and 32 unique chemical reaction pathways; these sampled structures and reaction paths enable automated construction of a kinetic network model of the catalytic system when combined with density functional theory (DFT) calculations of free energies and resultant transition-state theory rate constants. Direct simulations of this kinetic network across a range of initial reactant concentrations enables determination of both the reaction mechanism and the associated rate law in an automated fashion, without the need for either presupposing a mechanism or making steady-state approximations in kinetic analysis. Most importantly, we find that the reaction mechanism which emerges from these simulations is exactly that originally proposed by Heck and Breslow; furthermore, the simulated rate law is also consistent with previous experimental and computational studies, exhibiting a complex dependence on carbon monoxide pressure. While the inherent errors of using DFT simulations to model chemical reactivity limit the quantitative accuracy of our calculated rates, this work confirms that our automated simulation strategy enables direct analysis of catalytic mechanisms from first principles.

An algorithm for sequential tail value at risk for path-independent payoffs in a binomial tree

NARCIS (Netherlands)

Roorda, Berend

2010-01-01

We present an algorithm that determines Sequential Tail Value at Risk (STVaR) for path-independent payoffs in a binomial tree. STVaR is a dynamic version of Tail-Value-at-Risk (TVaR) characterized by the property that risk levels at any moment must be in the range of risk levels later on. The

Points-Based Safe Path Planning of Continuum Robots

Directory of Open Access Journals (Sweden)

Khuram Shahzad

2015-07-01

Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.

College Chemistry Students' Use of Memorized Algorithms in Chemical Reactions

Science.gov (United States)

Nyachwaya, James M.; Warfa, Abdi-Rizak M; Roehrig, Gillian H.; Schneider, Jamie L.

2014-01-01

This study sought to uncover memorized algorithms and procedures that students relied on in responding to questions based on the particulate nature of matter (PNM). We describe various memorized algorithms or processes used by students. In the study, students were asked to balance three equations of chemical reaction and then draw particulate…

Path planning in changeable environments

NARCIS (Netherlands)

Nieuwenhuisen, D.

2007-01-01

This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick

Path connectivity based spectral defragmentation in flexible bandwidth networks.

Science.gov (United States)

Wang, Ying; Zhang, Jie; Zhao, Yongli; Zhang, Jiawei; Zhao, Jie; Wang, Xinbo; Gu, Wanyi

2013-01-28

Optical networks with flexible bandwidth provisioning have become a very promising networking architecture. It enables efficient resource utilization and supports heterogeneous bandwidth demands. In this paper, two novel spectrum defragmentation approaches, i.e. Maximum Path Connectivity (MPC) algorithm and Path Connectivity Triggering (PCT) algorithm, are proposed based on the notion of Path Connectivity, which is defined to represent the maximum variation of node switching ability along the path in flexible bandwidth networks. A cost-performance-ratio based profitability model is given to denote the prons and cons of spectrum defragmentation. We compare these two proposed algorithms with non-defragmentation algorithm in terms of blocking probability. Then we analyze the differences of defragmentation profitability between MPC and PCT algorithms.

Seamount Hydrothermal Systems as Analogies for Ocean Worlds: Reaction Paths Throughout the Lo'ihi Seamount (Hawaii Archipelago)

Science.gov (United States)

Milesi, V.; Shock, E.

2018-05-01

Thermodynamic modeling is performed to investigate the possible reaction paths of sea water throughout the Lo'ihi seamount and the associated geochemical supplies of energy that can support autotrophic microbial communities.

DiversePathsJ: diverse shortest paths for bioimage analysis.

Science.gov (United States)

Uhlmann, Virginie; Haubold, Carsten; Hamprecht, Fred A; Unser, Michael

2018-02-01

We introduce a formulation for the general task of finding diverse shortest paths between two end-points. Our approach is not linked to a specific biological problem and can be applied to a large variety of images thanks to its generic implementation as a user-friendly ImageJ/Fiji plugin. It relies on the introduction of additional layers in a Viterbi path graph, which requires slight modifications to the standard Viterbi algorithm rules. This layered graph construction allows for the specification of various constraints imposing diversity between solutions. The software allows obtaining a collection of diverse shortest paths under some user-defined constraints through a convenient and user-friendly interface. It can be used alone or be integrated into larger image analysis pipelines. http://bigwww.epfl.ch/algorithms/diversepathsj. michael.unser@epfl.ch or fred.hamprecht@iwr.uni-heidelberg.de. Supplementary data are available at Bioinformatics online. © The Author(s) 2017. Published by Oxford University Press.

Ultrafast electron crystallography of the cooperative reaction path in vanadium dioxide

Directory of Open Access Journals (Sweden)

Ding-Shyue Yang

2016-05-01

Full Text Available Time-resolved electron diffraction with atomic-scale spatial and temporal resolution was used to unravel the transformation pathway in the photoinduced structural phase transition of vanadium dioxide. Results from bulk crystals and single-crystalline thin-films reveal a common, stepwise mechanism: First, there is a femtosecond V−V bond dilation within 300 fs, second, an intracell adjustment in picoseconds and, third, a nanoscale shear motion within tens of picoseconds. Experiments at different ambient temperatures and pump laser fluences reveal a temperature-dependent excitation threshold required to trigger the transitional reaction path of the atomic motions.

Feasible Path Planning for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Vu Trieu Minh

2014-01-01

Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

Path Planning Method in Multi-obstacle Marine Environment

Science.gov (United States)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

Comparative evaluation of atom mapping algorithms for balanced metabolic reactions: application to Recon 3D.

Science.gov (United States)

Preciat Gonzalez, German A; El Assal, Lemmer R P; Noronha, Alberto; Thiele, Ines; Haraldsdóttir, Hulda S; Fleming, Ronan M T

2017-06-14

The mechanism of each chemical reaction in a metabolic network can be represented as a set of atom mappings, each of which relates an atom in a substrate metabolite to an atom of the same element in a product metabolite. Genome-scale metabolic network reconstructions typically represent biochemistry at the level of reaction stoichiometry. However, a more detailed representation at the underlying level of atom mappings opens the possibility for a broader range of biological, biomedical and biotechnological applications than with stoichiometry alone. Complete manual acquisition of atom mapping data for a genome-scale metabolic network is a laborious process. However, many algorithms exist to predict atom mappings. How do their predictions compare to each other and to manually curated atom mappings? For more than four thousand metabolic reactions in the latest human metabolic reconstruction, Recon 3D, we compared the atom mappings predicted by six atom mapping algorithms. We also compared these predictions to those obtained by manual curation of atom mappings for over five hundred reactions distributed among all top level Enzyme Commission number classes. Five of the evaluated algorithms had similarly high prediction accuracy of over 91% when compared to manually curated atom mapped reactions. On average, the accuracy of the prediction was highest for reactions catalysed by oxidoreductases and lowest for reactions catalysed by ligases. In addition to prediction accuracy, the algorithms were evaluated on their accessibility, their advanced features, such as the ability to identify equivalent atoms, and their ability to map hydrogen atoms. In addition to prediction accuracy, we found that software accessibility and advanced features were fundamental to the selection of an atom mapping algorithm in practice.

Learning to improve path planning performance

International Nuclear Information System (INIS)

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

Formal language constrained path problems

Energy Technology Data Exchange (ETDEWEB)

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.

Tool path in torus tool CNC machining

Directory of Open Access Journals (Sweden)

XU Ying

2016-10-01

Full Text Available This paper is about tool path in torus tool CNC machining.The mathematical model of torus tool is established.The tool path planning algorithm is determined through calculation of the cutter location,boundary discretization,calculation of adjacent tool path and so on,according to the conversion formula,the cutter contact point will be converted to the cutter location point and then these points fit a toolpath.Lastly,the path planning algorithm is implemented by using Matlab programming.The cutter location points for torus tool are calculated by Matlab,and then fit these points to a toolpath.While using UG software,another tool path of free surface is simulated of the same data.It is drew compared the two tool paths that using torus tool is more efficient.

Multiagent path-finding in strategic games

OpenAIRE

Mihevc, Simon

2014-01-01

In this thesis I worked on creating, comparing and improving algorithms for multi-agent path planning on a domain typical for real-time strategy games. I implemented and compared Multiagent pathfinding using clearance and Multiagent pathfinding using independence detection and operator decomposition. I discovered that they had problems maintaining group compactness and took too long to calculate the path. I considerably improved the efficiency of both algorithms.

Dynamic route guidance algorithm based algorithm based on artificial immune system

Institute of Scientific and Technical Information of China (English)

无

2007-01-01

To improve the performance of the K-shortest paths search in intelligent traffic guidance systems,this paper proposes an optimal search algorithm based on the intelligent optimization search theory and the memphor mechanism of vertebrate immune systems.This algorithm,applied to the urban traffic network model established by the node-expanding method,can expediently realize K-shortest paths search in the urban traffic guidance systems.Because of the immune memory and global parallel search ability from artificial immune systems,K shortest paths can be found without any repeat,which indicates evidently the superiority of the algorithm to the conventional ones.Not only does it perform a better parallelism,the algorithm also prevents premature phenomenon that often occurs in genetic algorithms.Thus,it is especially suitable for real-time requirement of the traffic guidance system and other engineering optimal applications.A case study verifies the efficiency and the practicability of the algorithm aforementioned.

Robust Adaptive Photon Tracing using Photon Path Visibility

DEFF Research Database (Denmark)

Hachisuka, Toshiya; Jensen, Henrik Wann

2011-01-01

We present a new adaptive photon tracing algorithm which can handle illumination settings that are considered difficult for photon tracing approaches such as outdoor scenes, close-ups of a small part of an illuminated region, and illumination coming through a small gap. The key contribution in our...... algorithm is the use of visibility of photon path as the importance function which ensures that our sampling algorithm focuses on paths that are visible from the given viewpoint. Our sampling algorithm builds on two recent developments in Markov chain Monte Carlo methods: adaptive Markov chain sampling...... and replica exchange. Using these techniques, each photon path is adaptively mutated and it explores the sampling space efficiently without being stuck at a local peak of the importance function. We have implemented this sampling approach in the progressive photon mapping algorithm which provides visibility...

On the rejection-based algorithm for simulation and analysis of large-scale reaction networks

Energy Technology Data Exchange (ETDEWEB)

Thanh, Vo Hong, E-mail: vo@cosbi.eu [The Microsoft Research-University of Trento Centre for Computational and Systems Biology, Piazza Manifattura 1, Rovereto 38068 (Italy); Zunino, Roberto, E-mail: roberto.zunino@unitn.it [Department of Mathematics, University of Trento, Trento (Italy); Priami, Corrado, E-mail: priami@cosbi.eu [The Microsoft Research-University of Trento Centre for Computational and Systems Biology, Piazza Manifattura 1, Rovereto 38068 (Italy); Department of Mathematics, University of Trento, Trento (Italy)

2015-06-28

Stochastic simulation for in silico studies of large biochemical networks requires a great amount of computational time. We recently proposed a new exact simulation algorithm, called the rejection-based stochastic simulation algorithm (RSSA) [Thanh et al., J. Chem. Phys. 141(13), 134116 (2014)], to improve simulation performance by postponing and collapsing as much as possible the propensity updates. In this paper, we analyze the performance of this algorithm in detail, and improve it for simulating large-scale biochemical reaction networks. We also present a new algorithm, called simultaneous RSSA (SRSSA), which generates many independent trajectories simultaneously for the analysis of the biochemical behavior. SRSSA improves simulation performance by utilizing a single data structure across simulations to select reaction firings and forming trajectories. The memory requirement for building and storing the data structure is thus independent of the number of trajectories. The updating of the data structure when needed is performed collectively in a single operation across the simulations. The trajectories generated by SRSSA are exact and independent of each other by exploiting the rejection-based mechanism. We test our new improvement on real biological systems with a wide range of reaction networks to demonstrate its applicability and efficiency.

Cooperative organic mine avoidance path planning

Science.gov (United States)

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.

Estimation of distribution algorithm with path relinking for the blocking flow-shop scheduling problem

Science.gov (United States)

Shao, Zhongshi; Pi, Dechang; Shao, Weishi

2018-05-01

This article presents an effective estimation of distribution algorithm, named P-EDA, to solve the blocking flow-shop scheduling problem (BFSP) with the makespan criterion. In the P-EDA, a Nawaz-Enscore-Ham (NEH)-based heuristic and the random method are combined to generate the initial population. Based on several superior individuals provided by a modified linear rank selection, a probabilistic model is constructed to describe the probabilistic distribution of the promising solution space. The path relinking technique is incorporated into EDA to avoid blindness of the search and improve the convergence property. A modified referenced local search is designed to enhance the local exploitation. Moreover, a diversity-maintaining scheme is introduced into EDA to avoid deterioration of the population. Finally, the parameters of the proposed P-EDA are calibrated using a design of experiments approach. Simulation results and comparisons with some well-performing algorithms demonstrate the effectiveness of the P-EDA for solving BFSP.

A constraint programming solution for the military unit path finding problem

CSIR Research Space (South Africa)

Leenen, L

2012-01-01

Full Text Available In this chapter the authors present an algorithm to solve the Dynamic Military Unit Path Finding Problem (DMUPFP) which is based on Stentz’s well-known D* algorithm to solve dynamic path finding problems. The Military Unit Path Finding Problem...

A novel algorithm for solving optimal path planning problems based on parametrization method and fuzzy aggregation

International Nuclear Information System (INIS)

Zamirian, M.; Kamyad, A.V.; Farahi, M.H.

2009-01-01

In this Letter a new approach for solving optimal path planning problems for a single rigid and free moving object in a two and three dimensional space in the presence of stationary or moving obstacles is presented. In this approach the path planning problems have some incompatible objectives such as the length of path that must be minimized, the distance between the path and obstacles that must be maximized and etc., then a multi-objective dynamic optimization problem (MODOP) is achieved. Considering the imprecise nature of decision maker's (DM) judgment, these multiple objectives are viewed as fuzzy variables. By determining intervals for the values of these fuzzy variables, flexible monotonic decreasing or increasing membership functions are determined as the degrees of satisfaction of these fuzzy variables on their intervals. Then, the optimal path planning policy is searched by maximizing the aggregated fuzzy decision values, resulting in a fuzzy multi-objective dynamic optimization problem (FMODOP). Using a suitable t-norm, the FMODOP is converted into a non-linear dynamic optimization problem (NLDOP). By using parametrization method and some calculations, the NLDOP is converted into the sequence of conventional non-linear programming problems (NLPP). It is proved that the solution of this sequence of the NLPPs tends to a Pareto optimal solution which, among other Pareto optimal solutions, has the best satisfaction of DM for the MODOP. Finally, the above procedure as a novel algorithm integrating parametrization method and fuzzy aggregation to solve the MODOP is proposed. Efficiency of our approach is confirmed by some numerical examples.

Reaction factoring and bipartite update graphs accelerate the Gillespie Algorithm for large-scale biochemical systems.

Science.gov (United States)

Indurkhya, Sagar; Beal, Jacob

2010-01-06

ODE simulations of chemical systems perform poorly when some of the species have extremely low concentrations. Stochastic simulation methods, which can handle this case, have been impractical for large systems due to computational complexity. We observe, however, that when modeling complex biological systems: (1) a small number of reactions tend to occur a disproportionately large percentage of the time, and (2) a small number of species tend to participate in a disproportionately large percentage of reactions. We exploit these properties in LOLCAT Method, a new implementation of the Gillespie Algorithm. First, factoring reaction propensities allows many propensities dependent on a single species to be updated in a single operation. Second, representing dependencies between reactions with a bipartite graph of reactions and species requires only storage for reactions, rather than the required for a graph that includes only reactions. Together, these improvements allow our implementation of LOLCAT Method to execute orders of magnitude faster than currently existing Gillespie Algorithm variants when simulating several yeast MAPK cascade models.

Computing paths and cycles in biological interaction graphs

Directory of Open Access Journals (Sweden)

von Kamp Axel

2009-06-01

Full Text Available Abstract 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

Improved Geothermometry Through Multivariate Reaction-path Modeling and Evaluation of Geomicrobiological Influences on Geochemical Temperature Indicators: Final Report

Energy Technology Data Exchange (ETDEWEB)

Mattson, Earl [Idaho National Lab. (INL), Idaho Falls, ID (United States); Smith, Robert [Idaho National Lab. (INL), Idaho Falls, ID (United States); Fujita, Yoshiko [Idaho National Lab. (INL), Idaho Falls, ID (United States); McLing, Travis [Idaho National Lab. (INL), Idaho Falls, ID (United States); Neupane, Ghanashyam [Idaho National Lab. (INL), Idaho Falls, ID (United States); Palmer, Carl [Idaho National Lab. (INL), Idaho Falls, ID (United States); Reed, David [Idaho National Lab. (INL), Idaho Falls, ID (United States); Thompson, Vicki [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2015-03-01

The project was aimed at demonstrating that the geothermometric predictions can be improved through the application of multi-element reaction path modeling that accounts for lithologic and tectonic settings, while also accounting for biological influences on geochemical temperature indicators. The limited utilization of chemical signatures by individual traditional geothermometer in the development of reservoir temperature estimates may have been constraining their reliability for evaluation of potential geothermal resources. This project, however, was intended to build a geothermometry tool which can integrate multi-component reaction path modeling with process-optimization capability that can be applied to dilute, low-temperature water samples to consistently predict reservoir temperature within ±30 °C. The project was also intended to evaluate the extent to which microbiological processes can modulate the geochemical signals in some thermal waters and influence the geothermometric predictions.

Genetic Algorithm Applied to the Eigenvalue Equalization Filtered-x LMS Algorithm (EE-FXLMS

Directory of Open Access Journals (Sweden)

Stephan P. Lovstedt

2008-01-01

Full Text Available The FXLMS algorithm, used extensively in active noise control (ANC, exhibits frequency-dependent convergence behavior. This leads to degraded performance for time-varying tonal noise and noise with multiple stationary tones. Previous work by the authors proposed the eigenvalue equalization filtered-x least mean squares (EE-FXLMS algorithm. For that algorithm, magnitude coefficients of the secondary path transfer function are modified to decrease variation in the eigenvalues of the filtered-x autocorrelation matrix, while preserving the phase, giving faster convergence and increasing overall attenuation. This paper revisits the EE-FXLMS algorithm, using a genetic algorithm to find magnitude coefficients that give the least variation in eigenvalues. This method overcomes some of the problems with implementing the EE-FXLMS algorithm arising from finite resolution of sampled systems. Experimental control results using the original secondary path model, and a modified secondary path model for both the previous implementation of EE-FXLMS and the genetic algorithm implementation are compared.

Strategic Team AI Path Plans: Probabilistic Pathfinding

Directory of Open Access Journals (Sweden)

Tng C. H. John

2008-01-01

Full Text Available This paper proposes a novel method to generate strategic team AI pathfinding plans for computer games and simulations using probabilistic pathfinding. This method is inspired by genetic algorithms (Russell and Norvig, 2002, in that, a fitness function is used to test the quality of the path plans. The method generates high-quality path plans by eliminating the low-quality ones. The path plans are generated by probabilistic pathfinding, and the elimination is done by a fitness test of the path plans. This path plan generation method has the ability to generate variation or different high-quality paths, which is desired for games to increase replay values. This work is an extension of our earlier work on team AI: probabilistic pathfinding (John et al., 2006. We explore ways to combine probabilistic pathfinding and genetic algorithm to create a new method to generate strategic team AI pathfinding plans.

Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

Science.gov (United States)

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.

Multiscale simulations of patchy particle systems combining Molecular Dynamics, Path Sampling and Green's Function Reaction Dynamics

Science.gov (United States)

Bolhuis, Peter

Important reaction-diffusion processes, such as biochemical networks in living cells, or self-assembling soft matter, span many orders in length and time scales. In these systems, the reactants' spatial dynamics at mesoscopic length and time scales of microns and seconds is coupled to the reactions between the molecules at microscopic length and time scales of nanometers and milliseconds. This wide range of length and time scales makes these systems notoriously difficult to simulate. While mean-field rate equations cannot describe such processes, the mesoscopic Green's Function Reaction Dynamics (GFRD) method enables efficient simulation at the particle level provided the microscopic dynamics can be integrated out. Yet, many processes exhibit non-trivial microscopic dynamics that can qualitatively change the macroscopic behavior, calling for an atomistic, microscopic description. The recently developed multiscale Molecular Dynamics Green's Function Reaction Dynamics (MD-GFRD) approach combines GFRD for simulating the system at the mesocopic scale where particles are far apart, with microscopic Molecular (or Brownian) Dynamics, for simulating the system at the microscopic scale where reactants are in close proximity. The association and dissociation of particles are treated with rare event path sampling techniques. I will illustrate the efficiency of this method for patchy particle systems. Replacing the microscopic regime with a Markov State Model avoids the microscopic regime completely. The MSM is then pre-computed using advanced path-sampling techniques such as multistate transition interface sampling. I illustrate this approach on patchy particle systems that show multiple modes of binding. MD-GFRD is generic, and can be used to efficiently simulate reaction-diffusion systems at the particle level, including the orientational dynamics, opening up the possibility for large-scale simulations of e.g. protein signaling networks.

Reaction factoring and bipartite update graphs accelerate the Gillespie Algorithm for large-scale biochemical systems.

Directory of Open Access Journals (Sweden)

Sagar Indurkhya

Full Text Available ODE simulations of chemical systems perform poorly when some of the species have extremely low concentrations. Stochastic simulation methods, which can handle this case, have been impractical for large systems due to computational complexity. We observe, however, that when modeling complex biological systems: (1 a small number of reactions tend to occur a disproportionately large percentage of the time, and (2 a small number of species tend to participate in a disproportionately large percentage of reactions. We exploit these properties in LOLCAT Method, a new implementation of the Gillespie Algorithm. First, factoring reaction propensities allows many propensities dependent on a single species to be updated in a single operation. Second, representing dependencies between reactions with a bipartite graph of reactions and species requires only storage for reactions, rather than the required for a graph that includes only reactions. Together, these improvements allow our implementation of LOLCAT Method to execute orders of magnitude faster than currently existing Gillespie Algorithm variants when simulating several yeast MAPK cascade models.

Reaction Factoring and Bipartite Update Graphs Accelerate the Gillespie Algorithm for Large-Scale Biochemical Systems

Science.gov (United States)

Indurkhya, Sagar; Beal, Jacob

2010-01-01

ODE simulations of chemical systems perform poorly when some of the species have extremely low concentrations. Stochastic simulation methods, which can handle this case, have been impractical for large systems due to computational complexity. We observe, however, that when modeling complex biological systems: (1) a small number of reactions tend to occur a disproportionately large percentage of the time, and (2) a small number of species tend to participate in a disproportionately large percentage of reactions. We exploit these properties in LOLCAT Method, a new implementation of the Gillespie Algorithm. First, factoring reaction propensities allows many propensities dependent on a single species to be updated in a single operation. Second, representing dependencies between reactions with a bipartite graph of reactions and species requires only storage for reactions, rather than the required for a graph that includes only reactions. Together, these improvements allow our implementation of LOLCAT Method to execute orders of magnitude faster than currently existing Gillespie Algorithm variants when simulating several yeast MAPK cascade models. PMID:20066048

Optimal multigrid algorithms for the massive Gaussian model and path integrals

International Nuclear Information System (INIS)

Brandt, A.; Galun, M.

1996-01-01

Multigrid algorithms are presented which, in addition to eliminating the critical slowing down, can also eliminate the open-quotes volume factorclose quotes. The elimination of the volume factor removes the need to produce many independent fine-grid configurations for averaging out their statistical deviations, by averaging over the many samples produced on coarse grids during the multigrid cycle. Thermodynamic limits of observables can be calculated to relative accuracy var-epsilon r in just O(var-epsilon r -2 ) computer operations, where var-epsilon r is the error relative to the standard deviation of the observable. In this paper, we describe in detail the calculation of the susceptibility in the one-dimensional massive Gaussian model, which is also a simple example of path integrals. Numerical experiments show that the susceptibility can be calculated to relative accuracy var-epsilon r in about 8 var-epsilon r -2 random number generations, independent of the mass size

Effects of reaction-kinetic parameters on modeling reaction pathways in GaN MOVPE growth

Science.gov (United States)

Zhang, Hong; Zuo, Ran; Zhang, Guoyi

2017-11-01

In the modeling of the reaction-transport process in GaN MOVPE growth, the selections of kinetic parameters (activation energy Ea and pre-exponential factor A) for gas reactions are quite uncertain, which cause uncertainties in both gas reaction path and growth rate. In this study, numerical modeling of the reaction-transport process for GaN MOVPE growth in a vertical rotating disk reactor is conducted with varying kinetic parameters for main reaction paths. By comparisons of the molar concentrations of major Ga-containing species and the growth rates, the effects of kinetic parameters on gas reaction paths are determined. The results show that, depending on the values of the kinetic parameters, the gas reaction path may be dominated either by adduct/amide formation path, or by TMG pyrolysis path, or by both. Although the reaction path varies with different kinetic parameters, the predicted growth rates change only slightly because the total transport rate of Ga-containing species to the substrate changes slightly with reaction paths. This explains why previous authors using different chemical models predicted growth rates close to the experiment values. By varying the pre-exponential factor for the amide trimerization, it is found that the more trimers are formed, the lower the growth rates are than the experimental value, which indicates that trimers are poor growth precursors, because of thermal diffusion effect caused by high temperature gradient. The effective order for the contribution of major species to growth rate is found as: pyrolysis species > amides > trimers. The study also shows that radical reactions have little effect on gas reaction path because of the generation and depletion of H radicals in the chain reactions when NH2 is considered as the end species.

A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

Directory of Open Access Journals (Sweden)

Muhammad Aizzat Zakaria

2013-08-01

Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

Kudi: A free open-source python library for the analysis of properties along reaction paths.

Science.gov (United States)

Vogt-Geisse, Stefan

2016-05-01

With increasing computational capabilities, an ever growing amount of data is generated in computational chemistry that contains a vast amount of chemically relevant information. It is therefore imperative to create new computational tools in order to process and extract this data in a sensible way. Kudi is an open source library that aids in the extraction of chemical properties from reaction paths. The straightforward structure of Kudi makes it easy to use for users and allows for effortless implementation of new capabilities, and extension to any quantum chemistry package. A use case for Kudi is shown for the tautomerization reaction of formic acid. Kudi is available free of charge at www.github.com/stvogt/kudi.

Image-based path planning for automated virtual colonoscopy navigation

Science.gov (United States)

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.

Vision-based path following using the 1D trifocal tensor

CSIR Research Space (South Africa)

Sabatta, D

2013-05-01

Full Text Available In this paper we present a vision-based path following algorithm for a non-holonomic wheeled platform capable of keeping the vehicle on a desired path using only a single camera. The algorithm is suitable for teach and replay or leader...

Light Source Estimation with Analytical Path-tracing

OpenAIRE

Kasper, Mike; Keivan, Nima; Sibley, Gabe; Heckman, Christoffer

2017-01-01

We present a novel algorithm for light source estimation in scenes reconstructed with a RGB-D camera based on an analytically-derived formulation of path-tracing. Our algorithm traces the reconstructed scene with a custom path-tracer and computes the analytical derivatives of the light transport equation from principles in optics. These derivatives are then used to perform gradient descent, minimizing the photometric error between one or more captured reference images and renders of our curre...

Combinatorial algorithms

CERN Document Server

Hu, T C

2002-01-01

Newly enlarged, updated second edition of a valuable text presents algorithms for shortest paths, maximum flows, dynamic programming and backtracking. Also discusses binary trees, heuristic and near optimums, matrix multiplication, and NP-complete problems. 153 black-and-white illus. 23 tables.Newly enlarged, updated second edition of a valuable, widely used text presents algorithms for shortest paths, maximum flows, dynamic programming and backtracking. Also discussed are binary trees, heuristic and near optimums, matrix multiplication, and NP-complete problems. New to this edition: Chapter 9

Research on Navigation Path Planning for An Underground Load Haul Dump

Directory of Open Access Journals (Sweden)

Qi Yulong

2015-11-01

Full Text Available The improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an environment model based on a mining Geographic Information System (GIS map is established, and then combined with improved A * algorithm, the underground global path planning problem of the intelligent Load Haul Dump (LHD is solved. In this paper, for the articulated structure, the method of expanding nodes by articulation angle is adopted to make expanded nodes meet the trajectory characteristics. In addition, collision threat cost is introduced in the evaluation function to avoid collisions between the LHD and the tunnel walls. As peran analysis of the simulation test to verify the effectiveness of the improved A * algorithm and a comparison with the traditional A * algorithm, the improved A * algorithm can enhance search efficiency. Acontrast of multiple sets of test parameters suggests that when the price weighted coefficient of collision is 0.2, the shortest path can be derived to avoid impact. Finally, tracking results indicate that the proposed algorithm for navigation path planning can maintain the tracking error to within 0.2 m in line with the structural characteristics of the scraper in the laboratory environment to realize the path planning of unmanned scrapers and trajectory tracking. Moreover, the algorithm can enhance the safety of scrapers and prevent roadway collisions. The feasibility and practicality of the proposed method is verified in this work.

Streaming Algorithms for Line Simplification

DEFF Research Database (Denmark)

Abam, Mohammad; de Berg, Mark; Hachenberger, Peter

2010-01-01

this problem in a streaming setting, where we only have a limited amount of storage, so that we cannot store all the points. We analyze the competitive ratio of our algorithms, allowing resource augmentation: we let our algorithm maintain a simplification with 2k (internal) points and compare the error of our...... simplification to the error of the optimal simplification with k points. We obtain the algorithms with O(1) competitive ratio for three cases: convex paths, where the error is measured using the Hausdorff distance (or Fréchet distance), xy-monotone paths, where the error is measured using the Hausdorff distance...... (or Fréchet distance), and general paths, where the error is measured using the Fréchet distance. In the first case the algorithm needs O(k) additional storage, and in the latter two cases the algorithm needs O(k 2) additional storage....

Social network analysis using k-Path centrality method

Science.gov (United States)

Taniarza, Natya; Adiwijaya; Maharani, Warih

2018-03-01

k-Path centrality is deemed as one of the effective methods to be applied in centrality measurement in which the influential node is estimated as the node that is being passed by information path frequently. Regarding this, k-Path centrality has been employed in the analysis of this paper specifically by adapting random-algorithm approach in order to: (1) determine the influential user’s ranking in a social media Twitter; and (2) ascertain the influence of parameter α in the numeration of k-Path centrality. According to the analysis, the findings showed that the method of k-Path centrality with random-algorithm approach can be used to determine user’s ranking which influences in the dissemination of information in Twitter. Furthermore, the findings also showed that parameter α influenced the duration and the ranking results: the less the α value, the longer the duration, yet the ranking results were more stable.

Covering path generation for autonomous turf-care vehicle

DEFF Research Database (Denmark)

Mai, Christian; Jouffroy, Jerome; Top, Søren

2017-01-01

A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf......-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate...... a suitable toolpath. The algorithm has been tested on a recorded polygon from a local park turf which is non-convex and has holes, illustrating the algorithm functionality and limitations wrt. optimality. In particular, the algorithm can generate a tool-path for any polygon orientation....

A Method of Forming the Optimal Set of Disjoint Path in Computer Networks

Directory of Open Access Journals (Sweden)

As'ad Mahmoud As'ad ALNASER

2017-04-01

Full Text Available This work provides a short analysis of algorithms of multipath routing. The modified algorithm of formation of the maximum set of not crossed paths taking into account their metrics is offered. Optimization of paths is carried out due to their reconfiguration with adjacent deadlock path. Reconfigurations are realized within the subgraphs including only peaks of the main and an adjacent deadlock path. It allows to reduce the field of formation of an optimum path and time complexity of its formation.

An Efficient Forward-Reverse EM Algorithm for Statistical Inference in Stochastic Reaction Networks

KAUST Repository

Bayer, Christian; Moraes, Alvaro; Tempone, Raul; Vilanova, Pedro

2016-01-01

In this work [1], we present an extension of the forward-reverse algorithm by Bayer and Schoenmakers [2] to the context of stochastic reaction networks (SRNs). We then apply this bridge-generation technique to the statistical inference problem

Filtered backprojection proton CT reconstruction along most likely paths

Energy Technology Data Exchange (ETDEWEB)

Rit, Simon; Dedes, George; Freud, Nicolas; Sarrut, David; Letang, Jean Michel [Universite de Lyon, CREATIS, CNRS UMR5220, Inserm U1044, INSA-Lyon, Universite Lyon 1, Centre Leon Berard, 69008 Lyon (France)

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.

Determination of Optimal Flow Paths for Safety Injection According to Accident Conditions

Energy Technology Data Exchange (ETDEWEB)

Yoo, Kwae Hwan; Kim, Ju Hyun; Kim, Dong Yeong; Na, Man Gyun [Chosun Univ., Gwangju (Korea, Republic of); Hur, Seop; Kim, Changhwoi [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2014-05-15

In case severe accidents happen, major safety parameters of nuclear reactors are rapidly changed. Therefore, operators are unable to respond appropriately. This situation causes the human error of operators that led to serious accidents at Chernobyl. In this study, we aimed to develop an algorithm that can be used to select the optimal flow path for cold shutdown in serious accidents, and to recover an NPP quickly and efficiently from the severe accidents. In order to select the optimal flow path, we applied a Dijkstra algorithm. The Dijkstra algorithm is used to find the path of minimum total length between two given nodes and needs a weight (or length) matrix. In this study, the weight between nodes was calculated from frictional and minor losses inside pipes. That is, the optimal flow path is found so that the pressure drop between a starting node (water source) and a destination node (position that cooling water is injected) is minimized. In case a severe accident has happened, if we inject cooling water through the optimized flow path, then the nuclear reactor will be safely and effectively returned into the cold shutdown state. In this study, we have analyzed the optimal flow paths for safety injection as a preliminary study for developing an accident recovery system. After analyzing the optimal flow path using the Dijkstra algorithm, and the optimal flow paths were selected by calculating the head loss according to path conditions.

Active Path Planning for Drones in Object Search

OpenAIRE

Wang, Zeyangyi

2017-01-01

Object searching is one of the most popular applications of unmanned aerial vehicles. Low cost small drones are particularly suited for surveying tasks in difficult conditions. With their limited on-board processing power and battery life, there is a need for more efficient search algorithm. The proposed path planning algorithm utilizes AZ-net, a deep learning network to process images captured on drones for adaptive flight path planning. Search simulation based on videos and actual experimen...

Sequential Optimization of Paths in Directed Graphs Relative to Different Cost Functions

KAUST Repository

Abubeker, Jewahir Ali

2011-05-14

This paper is devoted to the consideration of an algorithm for sequential optimization of paths in directed graphs relative to di_erent cost functions. The considered algorithm is based on an extension of dynamic programming which allows to represent the initial set of paths and the set of optimal paths after each application of optimization procedure in the form of a directed acyclic graph.

Stress reaction process-based hierarchical recognition algorithm for continuous intrusion events in optical fiber prewarning system

Science.gov (United States)

Qu, Hongquan; Yuan, Shijiao; Wang, Yanping; Yang, Dan

2018-04-01

To improve the recognition performance of optical fiber prewarning system (OFPS), this study proposed a hierarchical recognition algorithm (HRA). Compared with traditional methods, which employ only a complex algorithm that includes multiple extracted features and complex classifiers to increase the recognition rate with a considerable decrease in recognition speed, HRA takes advantage of the continuity of intrusion events, thereby creating a staged recognition flow inspired by stress reaction. HRA is expected to achieve high-level recognition accuracy with less time consumption. First, this work analyzed the continuity of intrusion events and then presented the algorithm based on the mechanism of stress reaction. Finally, it verified the time consumption through theoretical analysis and experiments, and the recognition accuracy was obtained through experiments. Experiment results show that the processing speed of HRA is 3.3 times faster than that of a traditional complicated algorithm and has a similar recognition rate of 98%. The study is of great significance to fast intrusion event recognition in OFPS.

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

Science.gov (United States)

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-02-02

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

Approximate shortest homotopic paths in weighted regions

KAUST Repository

Cheng, Siuwing; Jin, Jiongxin; Vigneron, Antoine E.; Wang, Yajun

2012-01-01

A path P between two points s and t in a polygonal subdivision T with obstacles and weighted regions defines a class of paths that can be deformed to P without passing over any obstacle. We present the first algorithm that, given P and a relative

On the Organization of Parallel Operation of Some Algorithms for Finding the Shortest Path on a Graph on a Computer System with Multiple Instruction Stream and Single Data Stream

Directory of Open Access Journals (Sweden)

V. E. Podol'skii

2015-01-01

Full Text Available The paper considers the implementing Bellman-Ford and Lee algorithms to find the shortest graph path on a computer system with multiple instruction stream and single data stream (MISD. The MISD computer is a computer that executes commands of arithmetic-logical processing (on the CPU and commands of structures processing (on the structures processor in parallel on a single data stream. Transformation of sequential programs into the MISD programs is a labor intensity process because it requires a stream of the arithmetic-logical processing to be manually separated from that of the structures processing. Algorithms based on the processing of data structures (e.g., algorithms on graphs show high performance on a MISD computer. Bellman-Ford and Lee algorithms for finding the shortest path on a graph are representatives of these algorithms. They are applied to robotics for automatic planning of the robot movement in-situ. Modification of Bellman-Ford and Lee algorithms for finding the shortest graph path in coprocessor MISD mode and the parallel MISD modification of these algorithms were first obtained in this article. Thus, this article continues a series of studies on the transformation of sequential algorithms into MISD ones (Dijkstra and Ford-Fulkerson 's algorithms and has a pronouncedly applied nature. The article also presents the analysis results of Bellman-Ford and Lee algorithms in MISD mode. The paper formulates the basic trends of a technique for parallelization of algorithms into arithmetic-logical processing stream and structures processing stream. Among the key areas for future research, development of the mathematical approach to provide a subsequently formalized and automated process of parallelizing sequential algorithms between the CPU and structures processor is highlighted. Among the mathematical models that can be used in future studies there are graph models of algorithms (e.g., dependency graph of a program. Due to the high

Shortest Path Problems in a Stochastic and Dynamic Environment

National Research Council Canada - National Science Library

Cho, Jae

2003-01-01

.... Particularly, we develop a variety of algorithms to solve the expected shortest path problem in addition to techniques for computing the total travel time distribution along a path in the network...

Approximate Shortest Homotopic Paths in Weighted Regions

KAUST Repository

Cheng, Siu-Wing; Jin, Jiongxin; Vigneron, Antoine; Wang, Yajun

2010-01-01

Let P be a path between two points s and t in a polygonal subdivision T with obstacles and weighted regions. Given a relative error tolerance ε ∈(0,1), we present the first algorithm to compute a path between s and t that can be deformed to P

Chemical reaction path modeling of hydrothermal processes on Mars: Preliminary results

Science.gov (United States)

Plumlee, Geoffrey S.; Ridley, W. Ian

1992-01-01

Hydrothermal processes are thought to have had significant roles in the development of surficial mineralogies and morphological features on Mars. For example, a significant proportion of the Martian soil could consist of the erosional products of hydrothermally altered impact melt sheets. In this model, impact-driven, vapor-dominated hydrothermal systems hydrothermally altered the surrounding rocks and transported volatiles such as S and Cl to the surface. Further support for impact-driven hydrothermal alteration on Mars was provided by studies of the Ries crater, Germany, where suevite deposits were extensively altered to montmorillonite clays by inferred low-temperature (100-130 C) hydrothermal fluids. It was also suggested that surface outflow from both impact-driven and volcano-driven hydrothermal systems could generate the valley networks, thereby eliminating the need for an early warm wet climate. We use computer-driven chemical reaction path calculation to model chemical processes which were likely associated with postulated Martian hydrothermal systems.

EQ6, a computer program for reaction path modeling of aqueous geochemical systems: Theoretical manual, user's guide, and related documentation (Version 7.0)

International Nuclear Information System (INIS)

Wolery, T.J.; Daveler, S.A.

1992-01-01

EQ6 is a FORTRAN computer program in the EQ3/6 software package (Wolery, 1979). It calculates reaction paths (chemical evolution) in reacting water-rock and water-rock-waste systems. Speciation in aqueous solution is an integral part of these calculations. EQ6 computes models of titration processes (including fluid mixing), irreversible reaction in closed systems, irreversible reaction in some simple kinds of open systems, and heating or cooling processes, as well as solve ''single-point'' thermodynamic equilibrium problems. A reaction path calculation normally involves a sequence of thermodynamic equilibrium calculations. Chemical evolution is driven by a set of irreversible reactions (i.e., reactions out of equilibrium) and/or changes in temperature and/or pressure. These irreversible reactions usually represent the dissolution or precipitation of minerals or other solids. The code computes the appearance and disappearance of phases in solubility equilibrium with the water. It finds the identities of these phases automatically. The user may specify which potential phases are allowed to form and which are not. There is an option to fix the fugacities of specified gas species, simulating contact with a large external reservoir. Rate laws for irreversible reactions may be either relative rates or actual rates. If any actual rates are used, the calculation has a time frame. Several forms for actual rate laws are programmed into the code. EQ6 is presently able to model both mineral dissolution and growth kinetics

Evaluating progressive-rendering algorithms in appearance design tasks.

Science.gov (United States)

Jiawei Ou; Karlik, Ondrej; Křivánek, Jaroslav; Pellacini, Fabio

2013-01-01

Progressive rendering is becoming a popular alternative to precomputational approaches to appearance design. However, progressive algorithms create images exhibiting visual artifacts at early stages. A user study investigated these artifacts' effects on user performance in appearance design tasks. Novice and expert subjects performed lighting and material editing tasks with four algorithms: random path tracing, quasirandom path tracing, progressive photon mapping, and virtual-point-light rendering. Both the novices and experts strongly preferred path tracing to progressive photon mapping and virtual-point-light rendering. None of the participants preferred random path tracing to quasirandom path tracing or vice versa; the same situation held between progressive photon mapping and virtual-point-light rendering. The user workflow didn’t differ significantly with the four algorithms. The Web Extras include a video showing how four progressive-rendering algorithms converged (at http://youtu.be/ck-Gevl1e9s), the source code used, and other supplementary materials.

Probabilistic simulation of fermion paths

International Nuclear Information System (INIS)

Zhirov, O.V.

1989-01-01

Permutation symmetry of fermion path integral allows (while spin degrees of freedom are ignored) to use in its simulation any probabilistic algorithm, like Metropolis one, heat bath, etc. 6 refs., 2 tabs

Energy-Aware Path Planning for UAS Persistent Sampling and Surveillance

Science.gov (United States)

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.

Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

OpenAIRE

Jun , Jae-Yun; Saut , Jean-Philippe; Benamar , Faïz

2015-01-01

International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot’s quasi-static tip-over stability measure (assuming that the robot traverses uneven ter...

Summer Student Project Report. Parallelization of the path reconstruction algorithm for the inner detector of the ATLAS experiment.

CERN Document Server

Maldonado Puente, Bryan Patricio

2014-01-01

The inner detector of the ATLAS experiment has two types of silicon detectors used for tracking: Pixel Detector and SCT (semiconductor tracker). Once a proton-proton collision occurs, the result- ing particles pass through these detectors and these are recorded as hits on the detector surfaces. A medium to high energy particle passes through seven different surfaces of the two detectors, leaving seven hits, while lower energy particles can leave many more hits as they circle through the detector. For a typical event during the expected operational conditions, there are 30 000 hits in average recorded by the sensors. Only high energy particles are of interest for physics analysis and are taken into account for the path reconstruction; thus, a filtering process helps to discard the low energy particles produced in the collision. The following report presents a solution for increasing the speed of the filtering process in the path reconstruction algorithm.

Closed-time-path functional formalism in curved spacetime: Application to cosmological back-reaction problems

International Nuclear Information System (INIS)

Calzetta, E.; Hu, B.L.

1987-01-01

We discuss the generalization to curved spacetime of a path-integral formalism of quantum field theory based on the sum over paths first going forward in time in the presence of one external source from an in vacuum to a state defined on a hypersurface of constant time in the future, and then backwards in time in the presence of a different source to the same in vacuum. This closed-time-path formalism which generalizes the conventional method based on in-out vacuum persistence amplitudes yields real and causal effective actions, field equations, and expectation values. We apply this method to two problems in semiclassical cosmology. First we study the back reaction of particle production in a radiation-filled Bianchi type-I universe with a conformal scalar field. Unlike the in-out formalism which yields complex geometries the real and causal effective action here yields equations for real effective geometries, with more readily interpretable results. It also provides a clear identification of particle production as a dissipative process in semiclassical theories. In the second problem we calculate the vacuum expectation value of the stress-energy tensor for a nonconformal massive λphi 4 theory in a Robertson-Walker universe. This study serves to illustrate the use of Feynman diagrams and higher-loop calculations in this formalism. It also demonstrates the economy of this method in the calculation of expectation values over the mode-sum Bogolubov transformation methods ordinarily applied to matrix elements calculated in the conventional in-out approach

Prograph Based Analysis of Single Source Shortest Path Problem with Few Distinct Positive Lengths

Directory of Open Access Journals (Sweden)

B. Bhowmik

2011-08-01

Full Text Available In this paper we propose an experimental study model S3P2 of a fast fully dynamic programming algorithm design technique in finite directed graphs with few distinct nonnegative real edge weights. The Bellman-Ford’s approach for shortest path problems has come out in various implementations. In this paper the approach once again is re-investigated with adjacency matrix selection in associate least running time. The model tests proposed algorithm against arbitrarily but positive valued weighted digraphs introducing notion of Prograph that speeds up finding the shortest path over previous implementations. Our experiments have established abstract results with the intention that the proposed algorithm can consistently dominate other existing algorithms for Single Source Shortest Path Problems. A comparison study is also shown among Dijkstra’s algorithm, Bellman-Ford algorithm, and our algorithm.

Approximate Shortest Homotopic Paths in Weighted Regions

KAUST Repository

Cheng, Siu-Wing

2010-01-01

Let P be a path between two points s and t in a polygonal subdivision T with obstacles and weighted regions. Given a relative error tolerance ε ∈(0,1), we present the first algorithm to compute a path between s and t that can be deformed to P without passing over any obstacle and the path cost is within a factor 1 + ε of the optimum. The running time is O(h 3/ε2 kn polylog(k, n, 1/ε)), where k is the number of segments in P and h and n are the numbers of obstacles and vertices in T, respectively. The constant in the running time of our algorithm depends on some geometric parameters and the ratio of the maximum region weight to the minimum region weight. © 2010 Springer-Verlag.

Approximate shortest homotopic paths in weighted regions

KAUST Repository

Cheng, Siuwing

2012-02-01

A path P between two points s and t in a polygonal subdivision T with obstacles and weighted regions defines a class of paths that can be deformed to P without passing over any obstacle. We present the first algorithm that, given P and a relative error tolerance ε (0, 1), computes a path from this class with cost at most 1 + ε times the optimum. The running time is O(h 3/ε 2kn polylog (k,n,1/ε)), where k is the number of segments in P and h and n are the numbers of obstacles and vertices in T, respectively. The constant in the running time of our algorithm depends on some geometric parameters and the ratio of the maximum region weight to the minimum region weight. © 2012 World Scientific Publishing Company.

Critical Path Driven Cosynthesis for Heterogeneous Target Architectures

DEFF Research Database (Denmark)

Bjørn-Jørgensen, Peter; Madsen, Jan

1997-01-01

This paper presents a critical path driven algorithm to produce a static schedule of a single-rate system onto a heterogeneous target architecture. Our algorithm is a list based scheduling algorithm which concurrently assigns tasks to processors and allocates nets to interprocessor communication........ Experimental results show that our algorithm is able to find good results, as compared to other methods, in small amount of CPU time....

Presentation of a Modified Boustrophedon Decomposition Algorithm for Optimal Configuration of Flat Fields to use in Path Planning Systems of Agricultural Vehicles

Directory of Open Access Journals (Sweden)

R Goudarzi

2018-03-01

Full Text Available Introduction The demand of pre-determined optimal coverage paths in agricultural environments have been increased due to the growing application of field robots and autonomous field machines. Also coverage path planning problem (CPP has been extensively studied in robotics and many algorithms have been provided in many topics, but differences and limitations in agriculture lead to several different heuristic and modified adaptive methods from robotics. In this paper, a modified and enhanced version of currently used decomposition algorithm in robotics (boustrophedon cellular decomposition has been presented as a main part of path planning systems of agricultural vehicles. Developed algorithm is based on the parallelization of the edges of the polygon representing the environment to satisfy the requirements of the problem as far as possible. This idea is based on "minimum facing to the cost making condition" in turn, it is derived from encounter concept as a basis of cost making factors. Materials and Methods Generally, a line termed as a slice in boustrophedon cellular decomposition (BCD, sweeps an area in a pre-determined direction and decomposes the area only at critical points (where two segments can be extended to top and bottom of the point. Furthermore, sweep line direction does not change until the decomposition finish. To implement the BCD for parallelization method, two modifications were applied in order to provide a modified version of the boustrophedon cellular decomposition (M-BCD. In the first modification, the longest edge (base edge is targeted, and sweep line direction is set in line with the base edge direction (sweep direction is set perpendicular to the sweep line direction. Then Sweep line moves through the environment and stops at the first (nearest critical point. Next sweep direction will be the same as previous, If the length of those polygon's newly added edges, during the decomposition, are less than or equal to the

Optimal Path Planner for Mobile Robot in 2D Environment

Directory of Open Access Journals (Sweden)

Valeri Kroumov

2004-06-01

Full Text Available The problem of path planning for the case of a mobile robot moving in an environment filled with obstacles with known shapes and positions is studied. A path planner based on the genetic algorithm approach, which generates optimal in length path is proposed. The population member paths are generated by another algorithm, which uses for description of the obstacles an artificial annealing neural network and is based on potential field approach. The resulting path is piecewise linear with changing directions at the corners of the obstacles. Because of this feature, the inverse kinematics problems in controlling differential drive robots are simply solved: to drive the robot to some goal pose (x, y, theta, the robot can be spun in place until it is aimed at (x, y, then driven forward until it is at (x, y, and then spun in place until the required goal orientation

An adaptive algorithm for simulation of stochastic reaction-diffusion processes

International Nuclear Information System (INIS)

Ferm, Lars; Hellander, Andreas; Loetstedt, Per

2010-01-01

We propose an adaptive hybrid method suitable for stochastic simulation of diffusion dominated reaction-diffusion processes. For such systems, simulation of the diffusion requires the predominant part of the computing time. In order to reduce the computational work, the diffusion in parts of the domain is treated macroscopically, in other parts with the tau-leap method and in the remaining parts with Gillespie's stochastic simulation algorithm (SSA) as implemented in the next subvolume method (NSM). The chemical reactions are handled by SSA everywhere in the computational domain. A trajectory of the process is advanced in time by an operator splitting technique and the timesteps are chosen adaptively. The spatial adaptation is based on estimates of the errors in the tau-leap method and the macroscopic diffusion. The accuracy and efficiency of the method are demonstrated in examples from molecular biology where the domain is discretized by unstructured meshes.

The force control and path planning of electromagnetic induction-based massage robot.

Science.gov (United States)

Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

2017-07-20

Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore

Evolvable Neuronal Paths: A Novel Basis for Information and Search in the Brain

Science.gov (United States)

Fernando, Chrisantha; Vasas, Vera; Szathmáry, Eörs; 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

Multip: A Multi Purpose simulation Monte Carlo algorithm for two- and three-body reaction kinematics

Energy Technology Data Exchange (ETDEWEB)

Sgouros, O.; Soukeras, V.; Pakou, A. [The University of Ioannina, Department of Physics and HINP, Ioannina (Greece)

2017-08-15

An algorithm is proposed for the determination of inclusive or/and exclusive energy spectra for particles emitted either in two- or three-body reactions with emphasis in the dissociation of unstable particles. (orig.)

Integration of On-Column Chemical Reactions in Protein Characterization by Liquid Chromatography/Mass Spectrometry: Cross-Path Reactive Chromatography.

Science.gov (United States)

Pawlowski, Jake W; Carrick, Ian; Kaltashov, Igor A

2018-01-16

Profiling of complex proteins by means of mass spectrometry (MS) frequently requires that certain chemical modifications of their covalent structure (e.g., reduction of disulfide bonds), be carried out prior to the MS or MS/MS analysis. Traditionally, these chemical reactions take place in the off-line mode to allow the excess reagents (the majority of which interfere with the MS measurements and degrade the analytical signal) to be removed from the protein solution prior to MS measurements. In addition to a significant increase in the analysis time, chemical reactions may result in a partial or full loss of the protein if the modifications adversely affect its stability, e.g,, making it prone to aggregation. In this work we present a new approach to solving this problem by carrying out the chemical reactions online using the reactive chromatography scheme on a size exclusion chromatography (SEC) platform with MS detection. This is achieved by using a cross-path reaction scheme, i.e., by delaying the protein injection onto the SEC column (with respect to the injection of the reagent plug containing a disulfide-reducing agent), which allows the chemical reactions to be carried out inside the column for a limited (and precisely controlled) period of time, while the two plugs overlap inside the column. The reduced protein elutes separately from the unconsumed reagents, allowing the signal suppression in ESI to be avoided and enabling sensitive MS detection. The new method is used to measure fucosylation levels of a plasma protein haptoglobin at the whole protein level following online reduction of disulfide-linked tetrameric species to monomeric units. The feasibility of top-down fragmentation of disulfide-containing proteins is also demonstrated using β 2 -microglobulin and a monoclonal antibody (mAb). The new online technique is both robust and versatile, as the cross-path scheme can be readily expanded to include multiple reactions in a single experiment (as

Shortest path problem on a grid network with unordered intermediate points

Science.gov (United States)

Saw, Veekeong; Rahman, Amirah; Eng Ong, Wen

2017-10-01

We consider a shortest path problem with single cost factor on a grid network with unordered intermediate points. A two stage heuristic algorithm is proposed to find a feasible solution path within a reasonable amount of time. To evaluate the performance of the proposed algorithm, computational experiments are performed on grid maps of varying size and number of intermediate points. Preliminary results for the problem are reported. Numerical comparisons against brute forcing show that the proposed algorithm consistently yields solutions that are within 10% of the optimal solution and uses significantly less computation time.

Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

Science.gov (United States)

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

On load paths and load bearing topology from finite element analysis

International Nuclear Information System (INIS)

Kelly, D; Reidsema, C; Lee, M

2010-01-01

Load paths can be mapped from vector plots of 'pointing stress vectors'. They define a path along which a component of load remains constant as it traverses the solution domain. In this paper the theory for the paths is first defined. Properties of the plots that enable a designer to interpret the structural behavior from the contours are then identified. Because stress is a second order tensor defined on an orthogonal set of axes, the vector plots define separate paths for load transfer in each direction of the set of axes. An algorithm is therefore presented that combines the vectors to define a topology to carry the loads. The algorithm is shown to straighten the paths reducing bending moments and removing stress concentration. Application to a bolted joint, a racing car body and a yacht hull demonstrate the usefulness of the plots.

Three-coloring graphs with no induced seven-vertex path II : using a triangle

OpenAIRE

Chudnovsky, Maria; Maceli, Peter; Zhong, Mingxian

2015-01-01

In this paper, we give a polynomial time algorithm which determines if a given graph containing a triangle and no induced seven-vertex path is 3-colorable, and gives an explicit coloring if one exists. In previous work, we gave a polynomial time algorithm for three-coloring triangle-free graphs with no induced seven-vertex path. Combined, our work shows that three-coloring a graph with no induced seven-vertex path can be done in polynomial time.

Research and Implementation of Robot Path Planning Based onVSLAM

Directory of Open Access Journals (Sweden)

Wang Zi-Qiang

2018-01-01

Full Text Available In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.

Target Centroid Position Estimation of Phase-Path Volume Kalman Filtering

Directory of Open Access Journals (Sweden)

Fengjun Hu

2016-01-01

Full Text Available For the problem of easily losing track target when obstacles appear in intelligent robot target tracking, this paper proposes a target tracking algorithm integrating reduced dimension optimal Kalman filtering algorithm based on phase-path volume integral with Camshift algorithm. After analyzing the defects of Camshift algorithm, compare the performance with the SIFT algorithm and Mean Shift algorithm, and Kalman filtering algorithm is used for fusion optimization aiming at the defects. Then aiming at the increasing amount of calculation in integrated algorithm, reduce dimension with the phase-path volume integral instead of the Gaussian integral in Kalman algorithm and reduce the number of sampling points in the filtering process without influencing the operational precision of the original algorithm. Finally set the target centroid position from the Camshift algorithm iteration as the observation value of the improved Kalman filtering algorithm to fix predictive value; thus to make optimal estimation of target centroid position and keep the target tracking so that the robot can understand the environmental scene and react in time correctly according to the changes. The experiments show that the improved algorithm proposed in this paper shows good performance in target tracking with obstructions and reduces the computational complexity of the algorithm through the dimension reduction.

Reliable Path Selection Problem in Uncertain Traffic Network after Natural Disaster

Directory of Open Access Journals (Sweden)

Jing Wang

2013-01-01

Full Text Available After natural disaster, especially for large-scale disasters and affected areas, vast relief materials are often needed. In the meantime, the traffic networks are always of uncertainty because of the disaster. In this paper, we assume that the edges in the network are either connected or blocked, and the connection probability of each edge is known. In order to ensure the arrival of these supplies at the affected areas, it is important to select a reliable path. A reliable path selection model is formulated, and two algorithms for solving this model are presented. Then, adjustable reliable path selection model is proposed when the edge of the selected reliable path is broken. And the corresponding algorithms are shown to be efficient both theoretically and numerically.

Quantum Adiabatic Algorithms and Large Spin Tunnelling

Science.gov (United States)

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.

Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

Directory of Open Access Journals (Sweden)

Yong Ma

2014-01-01

Full Text Available This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.

Reaction Mechanism Generator: Automatic construction of chemical kinetic mechanisms

Science.gov (United States)

Gao, Connie W.; Allen, Joshua W.; Green, William H.; West, Richard H.

2016-06-01

Reaction Mechanism Generator (RMG) constructs kinetic models composed of elementary chemical reaction steps using a general understanding of how molecules react. Species thermochemistry is estimated through Benson group additivity and reaction rate coefficients are estimated using a database of known rate rules and reaction templates. At its core, RMG relies on two fundamental data structures: graphs and trees. Graphs are used to represent chemical structures, and trees are used to represent thermodynamic and kinetic data. Models are generated using a rate-based algorithm which excludes species from the model based on reaction fluxes. RMG can generate reaction mechanisms for species involving carbon, hydrogen, oxygen, sulfur, and nitrogen. It also has capabilities for estimating transport and solvation properties, and it automatically computes pressure-dependent rate coefficients and identifies chemically-activated reaction paths. RMG is an object-oriented program written in Python, which provides a stable, robust programming architecture for developing an extensible and modular code base with a large suite of unit tests. Computationally intensive functions are cythonized for speed improvements.

A comparative study on full diagonalization of Hessian matrix and Gradient-only technique to trace out reaction path in doped noble gas clusters using stochastic optimization

International Nuclear Information System (INIS)

Biring, Shyamal Kumar; Chaudhury, Pinaki

2012-01-01

Highlights: ► Estimation of critical points in Noble-gas clusters. ► Evaluation of first order saddle point or transition states. ► Construction of reaction path for structural change in clusters. ► Use of Monte-Carlo Simulated Annealing to study structural changes. - Abstract: This paper proposes Simulated Annealing based search to locate critical points in mixed noble gas clusters where Ne and Xe are individually doped in Ar-clusters. Using Lennard–Jones (LJ) atomic interaction we try to explore the search process of transformation through Minimum Energy Path (MEP) from one minimum energy geometry to another via first order saddle point on the potential energy surface of the clusters. Here we compare the results based on diagonalization of the full Hessian all through the search and quasi-gradient only technique to search saddle points and construction of reaction path (RP) for three sizes of doped Ar-clusters, (Ar) 19 Ne/Xe,(Ar) 24 Ne/Xe and (Ar) 29 Ne/Xe.

Extended shortest path selection for package routing of complex networks

Science.gov (United States)

Ye, Fan; Zhang, Lei; Wang, Bing-Hong; Liu, Lu; Zhang, Xing-Yi

The routing strategy plays a very important role in complex networks such as Internet system and Peer-to-Peer networks. However, most of the previous work concentrates only on the path selection, e.g. Flooding and Random Walk, or finding the shortest path (SP) and rarely considering the local load information such as SP and Distance Vector Routing. Flow-based Routing mainly considers load balance and still cannot achieve best optimization. Thus, in this paper, we propose a novel dynamic routing strategy on complex network by incorporating the local load information into SP algorithm to enhance the traffic flow routing optimization. It was found that the flow in a network is greatly affected by the waiting time of the network, so we should not consider only choosing optimized path for package transformation but also consider node congestion. As a result, the packages should be transmitted with a global optimized path with smaller congestion and relatively short distance. Analysis work and simulation experiments show that the proposed algorithm can largely enhance the network flow with the maximum throughput within an acceptable calculating time. The detailed analysis of the algorithm will also be provided for explaining the efficiency.

A Comparison of Hybrid Approaches for Turbofan Engine Gas Path Fault Diagnosis

Science.gov (United States)

Lu, Feng; Wang, Yafan; Huang, Jinquan; Wang, Qihang

2016-09-01

A hybrid diagnostic method utilizing Extended Kalman Filter (EKF) and Adaptive Genetic Algorithm (AGA) is presented for performance degradation estimation and sensor anomaly detection of turbofan engine. The EKF is used to estimate engine component performance degradation for gas path fault diagnosis. The AGA is introduced in the integrated architecture and applied for sensor bias detection. The contributions of this work are the comparisons of Kalman Filters (KF)-AGA algorithms and Neural Networks (NN)-AGA algorithms with a unified framework for gas path fault diagnosis. The NN needs to be trained off-line with a large number of prior fault mode data. When new fault mode occurs, estimation accuracy by the NN evidently decreases. However, the application of the Linearized Kalman Filter (LKF) and EKF will not be restricted in such case. The crossover factor and the mutation factor are adapted to the fitness function at each generation in the AGA, and it consumes less time to search for the optimal sensor bias value compared to the Genetic Algorithm (GA). In a word, we conclude that the hybrid EKF-AGA algorithm is the best choice for gas path fault diagnosis of turbofan engine among the algorithms discussed.

An Application of Multi-Criteria Shortest Path to a Customizable Hex-Map Environment

Science.gov (United States)

2015-03-26

47 Appendix A. Shortest Path Code ( VBA ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Appendix B. Quad Chart...efficient shortest path algorithm into the modeling environment, namely Excel VBA . While various algorithms offer the potential for more efficiency in...graphical interface is extremely intuitive and easily accessible to a user with no prior knowledge of the system. Since the Metz model is based on the

Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

Directory of Open Access Journals (Sweden)

Zheng Zhang

2013-03-01

Full Text Available In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.

Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

Science.gov (United States)

Hawary, A. F.; Razak, N. A.

2018-05-01

Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

Simulation and validation of concentrated subsurface lateral flow paths in an agricultural landscape

Science.gov (United States)

Zhu, Q.; Lin, H. S.

2009-08-01

The importance of soil water flow paths to the transport of nutrients and contaminants has long been recognized. However, effective means of detecting concentrated subsurface flow paths in a large landscape are still lacking. The flow direction and accumulation algorithm based on single-direction flow algorithm (D8) in GIS hydrologic modeling is a cost-effective way to simulate potential concentrated flow paths over a large area once relevant data are collected. This study tested the D8 algorithm for simulating concentrated lateral flow paths at three interfaces in soil profiles in a 19.5-ha agricultural landscape in central Pennsylvania, USA. These interfaces were (1) the interface between surface plowed layers of Ap1 and Ap2 horizons, (2) the interface with subsoil water-restricting clay layer where clay content increased to over 40%, and (3) the soil-bedrock interface. The simulated flow paths were validated through soil hydrologic monitoring, geophysical surveys, and observable soil morphological features. The results confirmed that concentrated subsurface lateral flow occurred at the interfaces with the clay layer and the underlying bedrock. At these two interfaces, the soils on the simulated flow paths were closer to saturation and showed more temporally unstable moisture dynamics than those off the simulated flow paths. Apparent electrical conductivity in the soil on the simulated flow paths was elevated and temporally unstable as compared to those outside the simulated paths. The soil cores collected from the simulated flow paths showed significantly higher Mn content at these interfaces than those away from the simulated paths. These results suggest that (1) the D8 algorithm is useful in simulating possible concentrated subsurface lateral flow paths if used with appropriate threshold value of contributing area and sufficiently detailed digital elevation model (DEM); (2) repeated electromagnetic surveys can reflect the temporal change of soil water storage

Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

Directory of Open Access Journals (Sweden)

Imen Chaari

2017-03-01

Full Text Available This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A* for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.

Path following mobile robot in the presence of velocity constraints

DEFF Research Database (Denmark)

Bak, Martin; Poulsen, Niels Kjølstad; Ravn, Ole

2001-01-01

This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly control...

The path to improved reaction rates for astrophysics

International Nuclear Information System (INIS)

Rauscher, T.

2011-01-01

This review focuses on nuclear reactions in astrophysics and, more specifically, on reactions with light ions (nucleons and α particles) proceeding via the strong interaction. It is intended to present the basic definitions essential for studies in nuclear astrophysics, to point out the differences between nuclear reactions taking place in stars and in a terrestrial laboratory, and to illustrate some of the challenges to be faced in theoretical and experimental studies of those reactions. The discussion revolves around the relevant quantities for astrophysics, which are the astrophysical reaction rates. The sensitivity of the reaction rates to the uncertainties in the prediction of various nuclear properties is explored and some guidelines for experimentalists are also provided. (author)

Fission Reaction Event Yield Algorithm FREYA 2.0.2

Science.gov (United States)

Verbeke, J. M.; Randrup, J.; Vogt, R.

2018-01-01

FREYA (Fission Reaction Event Yield Algorithm) is a fission event generator which models complete fission events. As such, it automatically includes fluctuations as well as correlations between observables, resulting from conservation of energy and momentum. The purpose of this paper is to present the main differences between FREYA versions 1.0 and 2.0.2 : additional fissionable isotopes, angular momentum conservation, Giant Dipole Resonance form factor for the statistical emission of photons, improved treatment of fission photon emission using RIPL database, and dependence on the incident neutron direction. FREYA 2.0.2 has been integrated into the LLNL Fission Library 2.0.2, which has itself been integrated into MCNP6.2, TRIPOLI-4.10, and can be called from Geant4.10.

Knowledge-inducing Global Path Planning for Robots in Environment with Hybrid Terrain

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Yi-nan Guo

2010-09-01

Full Text Available In complex environment with hybrid terrain, different regions may have different terrain. Path planning for robots in such environment is an open NP-complete problem, which lacks effective methods. The paper develops a novel global path planning method based on common sense and evolution knowledge by adopting dual evolution structure in culture algorithms. Common sense describes terrain information and feasibility of environment, which is used to evaluate and select the paths. Evolution knowledge describes the angle relationship between the path and the obstacles, or the common segments of paths, which is used to judge and repair infeasible individuals. Taken two types of environments with different obstacles and terrain as examples, simulation results indicate that the algorithm can effectively solve path planning problem in complex environment and decrease the computation complexity for judgment and repair of infeasible individuals. It also can improve the convergence speed and have better computation stability.

Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment

Directory of Open Access Journals (Sweden)

Yong-feng Dong

2016-01-01

Full Text Available In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time.

COOBBO: A Novel Opposition-Based Soft Computing Algorithm for TSP Problems

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Qingzheng Xu

2014-12-01

Full Text Available In this paper, we propose a novel definition of opposite path. Its core feature is that the sequence of candidate paths and the distances between adjacent nodes in the tour are considered simultaneously. In a sense, the candidate path and its corresponding opposite path have the same (or similar at least distance to the optimal path in the current population. Based on an accepted framework for employing opposition-based learning, Oppositional Biogeography-Based Optimization using the Current Optimum, called COOBBO algorithm, is introduced to solve traveling salesman problems. We demonstrate its performance on eight benchmark problems and compare it with other optimization algorithms. Simulation results illustrate that the excellent performance of our proposed algorithm is attributed to the distinct definition of opposite path. In addition, its great strength lies in exploitation for enhancing the solution accuracy, not exploration for improving the population diversity. Finally, by comparing different version of COOBBO, another conclusion is that each successful opposition-based soft computing algorithm needs to adjust and remain a good balance between backward adjacent node and forward adjacent node.

A novel communication mechanism based on node potential multi-path routing

Science.gov (United States)

Bu, Youjun; Zhang, Chuanhao; Jiang, YiMing; Zhang, Zhen

2016-10-01

With the network scales rapidly and new network applications emerge frequently, bandwidth supply for today's Internet could not catch up with the rapid increasing requirements. Unfortunately, irrational using of network sources makes things worse. Actual network deploys single-next-hop optimization paths for data transmission, but such "best effort" model leads to the imbalance use of network resources and usually leads to local congestion. On the other hand Multi-path routing can use the aggregation bandwidth of multi paths efficiently and improve the robustness of network, security, load balancing and quality of service. As a result, multi-path has attracted much attention in the routing and switching research fields and many important ideas and solutions have been proposed. This paper focuses on implementing the parallel transmission of multi next-hop data, balancing the network traffic and reducing the congestion. It aimed at exploring the key technologies of the multi-path communication network, which could provide a feasible academic support for subsequent applications of multi-path communication networking. It proposed a novel multi-path algorithm based on node potential in the network. And the algorithm can fully use of the network link resource and effectively balance network link resource utilization.

Selective epidemic vaccination under the performant routing algorithms

Science.gov (United States)

Bamaarouf, O.; Alweimine, A. Ould Baba; Rachadi, A.; EZ-Zahraouy, H.

2018-04-01

Despite the extensive research on traffic dynamics and epidemic spreading, the effect of the routing algorithms strategies on the traffic-driven epidemic spreading has not received an adequate attention. It is well known that more performant routing algorithm strategies are used to overcome the congestion problem. However, our main result shows unexpectedly that these algorithms favor the virus spreading more than the case where the shortest path based algorithm is used. In this work, we studied the virus spreading in a complex network using the efficient path and the global dynamic routing algorithms as compared to shortest path strategy. Some previous studies have tried to modify the routing rules to limit the virus spreading, but at the expense of reducing the traffic transport efficiency. This work proposed a solution to overcome this drawback by using a selective vaccination procedure instead of a random vaccination used often in the literature. We found that the selective vaccination succeeded in eradicating the virus better than a pure random intervention for the performant routing algorithm strategies.

EQ6, a computer program for reaction path modeling of aqueous geochemical systems: Theoretical manual, user`s guide, and related documentation (Version 7.0); Part 4

Energy Technology Data Exchange (ETDEWEB)

Wolery, T.J.; Daveler, S.A.

1992-10-09

EQ6 is a FORTRAN computer program in the EQ3/6 software package (Wolery, 1979). It calculates reaction paths (chemical evolution) in reacting water-rock and water-rock-waste systems. Speciation in aqueous solution is an integral part of these calculations. EQ6 computes models of titration processes (including fluid mixing), irreversible reaction in closed systems, irreversible reaction in some simple kinds of open systems, and heating or cooling processes, as well as solve ``single-point`` thermodynamic equilibrium problems. A reaction path calculation normally involves a sequence of thermodynamic equilibrium calculations. Chemical evolution is driven by a set of irreversible reactions (i.e., reactions out of equilibrium) and/or changes in temperature and/or pressure. These irreversible reactions usually represent the dissolution or precipitation of minerals or other solids. The code computes the appearance and disappearance of phases in solubility equilibrium with the water. It finds the identities of these phases automatically. The user may specify which potential phases are allowed to form and which are not. There is an option to fix the fugacities of specified gas species, simulating contact with a large external reservoir. Rate laws for irreversible reactions may be either relative rates or actual rates. If any actual rates are used, the calculation has a time frame. Several forms for actual rate laws are programmed into the code. EQ6 is presently able to model both mineral dissolution and growth kinetics.

Applications of a simple dynamical model to the reaction path Hamiltonian: tunneling corrections to rate constants, product state distributions, line widths of local mode overtones, and mode specificity in unimolecular decomposition

International Nuclear Information System (INIS)

Cerjan, C.J.; Shi, S.; Miller, W.H.

1982-01-01

A simple but often reasonably accurate dynamical model--a synthesis of the semiclassical perturbation (SCP) approximation of Miller and Smith and the infinite order sudden (IOS) approximation--has been shown previously to take an exceptionally simple form when applied to the reaction path Hamiltonian derived by Miller, Handy, and Adams. This paper shows how this combined SCP-IOS reaction path model can be used to provide a simple but comprehensive description of a variety of phenomena in the dynamics of polyatomic molecules

Reaction path analysis of sodium-water reaction phenomena in support of chemical reaction model development

International Nuclear Information System (INIS)

Kikuchi, Shin; Ohshima, Hiroyuki; Hashimoto, Kenro

2011-01-01

Computational study of the sodium-water reaction at the gas (water) - liquid (sodium) interface has been carried out using ab initio (first-principle) method. A possible reaction channel has been identified for the stepwise OH bond dissociations of a single water molecule. The energetics including the binding energy of a water molecule to the sodium surface, the activation energies of the bond cleavages, and the reaction energies, have been evaluated, and the rate constants of the first and second OH bond-breakings have been compared. The results are used as the basis for constructing the chemical reaction model used in a multi-dimensional sodium-water reaction code, SERAPHIM, being developed by JAEA toward the safety assessment of the steam generator (SG) in a sodium-cooled fast reactor (SFR). (author)

Path planning for persistent surveillance applications using fixed-wing unmanned aerial vehicles

Science.gov (United States)

Keller, James F.

This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent

Local Path Planning of Driverless Car Navigation Based on Jump Point Search Method Under Urban Environment

Directory of Open Access Journals (Sweden)

Kaijun Zhou

2017-09-01

Full Text Available The Jump Point Search (JPS algorithm is adopted for local path planning of the driverless car under urban environment, and it is a fast search method applied in path planning. Firstly, a vector Geographic Information System (GIS map, including Global Positioning System (GPS position, direction, and lane information, is built for global path planning. Secondly, the GIS map database is utilized in global path planning for the driverless car. Then, the JPS algorithm is adopted to avoid the front obstacle, and to find an optimal local path for the driverless car in the urban environment. Finally, 125 different simulation experiments in the urban environment demonstrate that JPS can search out the optimal and safety path successfully, and meanwhile, it has a lower time complexity compared with the Vector Field Histogram (VFH, the Rapidly Exploring Random Tree (RRT, A*, and the Probabilistic Roadmaps (PRM algorithms. Furthermore, JPS is validated usefully in the structured urban environment.

Fast exploration of an optimal path on the multidimensional free energy surface

Science.gov (United States)

Chen, Changjun

2017-01-01

In a reaction, determination of an optimal path with a high reaction rate (or a low free energy barrier) is important for the study of the reaction mechanism. This is a complicated problem that involves lots of degrees of freedom. For simple models, one can build an initial path in the collective variable space by the interpolation method first and then update the whole path constantly in the optimization. However, such interpolation method could be risky in the high dimensional space for large molecules. On the path, steric clashes between neighboring atoms could cause extremely high energy barriers and thus fail the optimization. Moreover, performing simulations for all the snapshots on the path is also time-consuming. In this paper, we build and optimize the path by a growing method on the free energy surface. The method grows a path from the reactant and extends its length in the collective variable space step by step. The growing direction is determined by both the free energy gradient at the end of the path and the direction vector pointing at the product. With fewer snapshots on the path, this strategy can let the path avoid the high energy states in the growing process and save the precious simulation time at each iteration step. Applications show that the presented method is efficient enough to produce optimal paths on either the two-dimensional or the twelve-dimensional free energy surfaces of different small molecules. PMID:28542475

Path-oriented early reaction to approaching disruptions in ASDEX Upgrade and TCV in view of the future needs for ITER and DEMO

Science.gov (United States)

Maraschek, M.; Gude, A.; Igochine, V.; Zohm, H.; Alessi, E.; Bernert, M.; Cianfarani, C.; Coda, S.; Duval, B.; Esposito, B.; Fietz, S.; Fontana, M.; Galperti, C.; Giannone, L.; Goodman, T.; Granucci, G.; Marelli, L.; Novak, S.; Paccagnella, R.; Pautasso, G.; Piovesan, P.; Porte, L.; Potzel, S.; Rapson, C.; Reich, M.; Sauter, O.; Sheikh, U.; Sozzi, C.; Spizzo, G.; Stober, J.; Treutterer, W.; ZancaP; ASDEX Upgrade Team; TCV Team; the EUROfusion MST1 Team

2018-01-01

Routine reaction to approaching disruptions in tokamaks is currently largely limited to machine protection by mitigating an ongoing disruption, which remains a basic requirement for ITER and DEMO [1]. Nevertheless, a mitigated disruption still generates stress to the device. Additionally, in future fusion devices, high-performance discharge time itself will be very valuable. Instead of reacting only on generic features, occurring shortly before the disruption, the ultimate goal is to actively avoid approaching disruptions at an early stage, sustain the discharges whenever possible and restrict mitigated disruptions to major failures. Knowledge of the most relevant root causes and the corresponding chain of events leading to disruption, the disruption path, is a prerequisite. For each disruption path, physics-based sensors and adequate actuators must be defined and their limitations considered. Early reaction facilitates the efficiency of the actuators and enhances the probability of a full recovery. Thus, sensors that detect potential disruptions in time are to be identified. Once the entrance into a disruption path is detected, we propose a hierarchy of actions consisting of (I) recovery of the discharge to full performance or at least continuation with a less disruption-prone backup scenario, (II) complete avoidance of disruption to sustain the discharge or at least delay it for a controlled termination and, (III), only as last resort, a disruption mitigation. Based on the understanding of disruption paths, a hierarchical and path-specific handling strategy must be developed. Such schemes, testable in present devices, could serve as guidelines for ITER and DEMO operation. For some disruption paths, experiments have been performed at ASDEX Upgrade and TCV. Disruptions were provoked in TCV by impurity injection into ELMy H-mode discharges and in ASDEX Upgrade by forcing a density limit in H-mode discharges. The new approach proposed in this paper is discussed for

A path flux analysis method for the reduction of detailed chemical kinetic mechanisms

Energy Technology Data Exchange (ETDEWEB)

Sun, Wenting; Ju, Yiguang [Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544 (United States); Chen, Zheng [State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871 (China); Gou, Xiaolong [School of Power Engineering, Chongqing University, Chongqing 400044 (China)

2010-07-15

A direct path flux analysis (PFA) method for kinetic mechanism reduction is proposed and validated by using high temperature ignition, perfect stirred reactors, and steady and unsteady flame propagations of n-heptane and n-decane/air mixtures. The formation and consumption fluxes of each species at multiple reaction path generations are analyzed and used to identify the important reaction pathways and the associated species. The formation and consumption path fluxes used in this method retain flux conservation information and are used to define the path indexes for the first and the second generation reaction paths related to a targeted species. Based on the indexes of each reaction path for the first and second generations, different sized reduced chemical mechanisms which contain different number of species are generated. The reduced mechanisms of n-heptane and n-decane obtained by using the present method are compared to those generated by the direct relation graph (DRG) method. The reaction path analysis for n-decane is conducted to demonstrate the validity of the present method. The comparisons of the ignition delay times, flame propagation speeds, flame structures, and unsteady spherical flame propagation processes showed that with either the same or significantly less number of species, the reduced mechanisms generated by the present PFA are more accurate than that of DRG in a broad range of initial pressures and temperatures. The method is also integrated with the dynamic multi-timescale method and a further increase of computation efficiency is achieved. (author)

Efficient Unbiased Rendering using Enlightened Local Path Sampling

DEFF Research Database (Denmark)

Kristensen, Anders Wang

measurements, which are the solution to the adjoint light transport problem. The second is a representation of the distribution of radiance and importance in the scene. We also derive a new method of particle sampling, which is advantageous compared to existing methods. Together we call the resulting algorithm....... The downside to using these algorithms is that they can be slow to converge. Due to the nature of Monte Carlo methods, the results are random variables subject to variance. This manifests itself as noise in the images, which can only be reduced by generating more samples. The reason these methods are slow...... is because of a lack of eeffective methods of importance sampling. Most global illumination algorithms are based on local path sampling, which is essentially a recipe for constructing random walks. Using this procedure paths are built based on information given explicitly as part of scene description...

Application of Rudoe’s Formula in Long Seismic Surface Wave Paths Determination

Directory of Open Access Journals (Sweden)

Jorge L. de Souza

2005-12-01

Full Text Available An algorithm to compute accurate distances over grid cells crossed by seismic surface wave paths by Rudoe’s formula is proposed. The intersection coordinates between paths and the geodetic grid are also computed, which data are exhibited in an azimuthal equidistant projection to check the results. GRS-80 is the adopted ellipsoidal Earth model. The algorithm computes the intermediate intersections, from both forward and reciprocal normal sections given by Rudoe’s method, which separation may be greater than the cell size. It was tested on a data set including 3,269 source-station paths, which seismic events were recorded at 23 IRIS stations. The epicentral distances range from 1,634 km to 16,400 km, which the grid spreads over 149°E x 21°W, and 50°N x 90°S. The results show that the estimated intersections accuracy depends on the path azimuth and latitude, which influence may be significative for very long distances as in teleseismic applications, which argues for the algorithm application.

A Hybrid 3D Path Planning Method for UAVs

DEFF Research Database (Denmark)

Ortiz-Arroyo, Daniel

2015-01-01

This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary resu...

A New Method of Global Path Planning for AGV

Institute of Scientific and Technical Information of China (English)

SHI En-xiu; HUANG Yu-mei

2006-01-01

Path planning is important in the research of a mobile robot (MR). Methods for it have been used in different applications. An automated guided vehicle(AGV), which is a kind of MR, is used in a flexible manufacturing system(FMS). Path planning for it is essential to improve the efficiency of FMS. A new method was proposed with known obstacle space FMS in this paper. FMS is described by the Augmented Pos Matrix of a Machine (APMM) and Relative Pos Matrix of Machines (RPMM), which is smaller. The optimum path can be obtained according to the probability of the path and the maximal probability path. The suggested algorithm of path planning was good performance through simulation result: simplicity, saving time and reliability.

Research on Innovating, Applying Multiple Paths Routing Technique Based on Fuzzy Logic and Genetic Algorithm for Routing Messages in Service - Oriented Routing

Directory of Open Access Journals (Sweden)

Nguyen Thanh Long

2015-02-01

Full Text Available MANET (short for Mobile Ad-Hoc Network consists of a set of mobile network nodes, network configuration changes very fast. In content based routing, data is transferred from source node to request nodes is not based on destination addresses. Therefore, it is very flexible and reliable, because source node does not need to know destination nodes. If We can find multiple paths that satisfies bandwidth requirement, split the original message into multiple smaller messages to transmit concurrently on these paths. On destination nodes, combine separated messages into the original message. Hence it can utilize better network resources, causes data transfer rate to be higher, load balancing, failover. Service Oriented Routing is inherited from the model of content based routing (CBR, combined with several advanced techniques such as Multicast, multiple path routing, Genetic algorithm to increase the data rate, and data encryption to ensure information security. Fuzzy logic is a logical field study evaluating the accuracy of the results based on the approximation of the components involved, make decisions based on many factors relative accuracy based on experimental or mathematical proof. This article presents some techniques to support multiple path routing from one network node to a set of nodes with guaranteed quality of service. By using these techniques can decrease the network load, congestion, use network resources efficiently.

A Model Predictive Algorithm for Active Control of Nonlinear Noise Processes

Directory of Open Access Journals (Sweden)

Qi-Zhi Zhang

2005-01-01

Full Text Available In this paper, an improved nonlinear Active Noise Control (ANC system is achieved by introducing an appropriate secondary source. For ANC system to be successfully implemented, the nonlinearity of the primary path and time delay of the secondary path must be overcome. A nonlinear Model Predictive Control (MPC strategy is introduced to deal with the time delay in the secondary path and the nonlinearity in the primary path of the ANC system. An overall online modeling technique is utilized for online secondary path and primary path estimation. The secondary path is estimated using an adaptive FIR filter, and the primary path is estimated using a Neural Network (NN. The two models are connected in parallel with the two paths. In this system, the mutual disturbances between the operation of the nonlinear ANC controller and modeling of the secondary can be greatly reduced. The coefficients of the adaptive FIR filter and weight vector of NN are adjusted online. Computer simulations are carried out to compare the proposed nonlinear MPC method with the nonlinear Filter-x Least Mean Square (FXLMS algorithm. The results showed that the convergence speed of the proposed nonlinear MPC algorithm is faster than that of nonlinear FXLMS algorithm. For testing the robust performance of the proposed nonlinear ANC system, the sudden changes in the secondary path and primary path of the ANC system are considered. Results indicated that the proposed nonlinear ANC system can rapidly track the sudden changes in the acoustic paths of the nonlinear ANC system, and ensure the adaptive algorithm stable when the nonlinear ANC system is time variable.

The Resource constrained shortest path problem implemented in a lazy functional language

NARCIS (Netherlands)

Hartel, Pieter H.; Glaser, Hugh

The resource constrained shortest path problem is an NP-hard problem for which many ingenious algorithms have been developed. These algorithms are usually implemented in Fortran or another imperative programming language. We have implemented some of the simpler algorithms in a lazy functional

Final Report - Dynamic Path Scheduling through Extensions to Generalized Multiprotocol Label Switching (GMPLS)

Energy Technology Data Exchange (ETDEWEB)

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

Statistical Analysis of the First Passage Path Ensemble of Jump Processes

Science.gov (United States)

von Kleist, Max; Schütte, Christof; Zhang, Wei

2018-02-01

The transition mechanism of jump processes between two different subsets in state space reveals important dynamical information of the processes and therefore has attracted considerable attention in the past years. In this paper, we study the first passage path ensemble of both discrete-time and continuous-time jump processes on a finite state space. The main approach is to divide each first passage path into nonreactive and reactive segments and to study them separately. The analysis can be applied to jump processes which are non-ergodic, as well as continuous-time jump processes where the waiting time distributions are non-exponential. In the particular case that the jump processes are both Markovian and ergodic, our analysis elucidates the relations between the study of the first passage paths and the study of the transition paths in transition path theory. We provide algorithms to numerically compute statistics of the first passage path ensemble. The computational complexity of these algorithms scales with the complexity of solving a linear system, for which efficient methods are available. Several examples demonstrate the wide applicability of the derived results across research areas.

A novel and facile decay path of Criegee intermediates by intramolecular insertion reactions via roaming transition states

International Nuclear Information System (INIS)

Nguyen, Trong-Nghia; Putikam, Raghunath; Lin, M. C.

2015-01-01

We have discovered a new and highly competitive product channel in the unimolecular decay process for small Criegee intermediates, CH 2 OO and anti/syn-CH 3 C(H)OO, occurring by intramolecular insertion reactions via a roaming-like transition state (TS) based on quantum-chemical calculations. Our results show that in the decomposition of CH 2 OO and anti-CH 3 C(H)OO, the predominant paths directly produce cis-HC(O)OH and syn-CH 3 C(O)OH acids with >110 kcal/mol exothermicities via loose roaming-like insertion TSs involving the terminal O atom and the neighboring C–H bonds. For syn-CH 3 C(H)OO, the major decomposition channel occurs by abstraction of a H atom from the CH 3 group by the terminal O atom producing CH 2 C(H)O–OH. At 298 K, the intramolecular insertion process in CH 2 OO was found to be 600 times faster than the commonly assumed ring-closing reaction

An incomplete assembly with thresholding algorithm for systems of reaction-diffusion equations in three space dimensions IAT for reaction-diffusion systems

International Nuclear Information System (INIS)

Moore, Peter K.

2003-01-01

Solving systems of reaction-diffusion equations in three space dimensions can be prohibitively expensive both in terms of storage and CPU time. Herein, I present a new incomplete assembly procedure that is designed to reduce storage requirements. Incomplete assembly is analogous to incomplete factorization in that only a fixed number of nonzero entries are stored per row and a drop tolerance is used to discard small values. The algorithm is incorporated in a finite element method-of-lines code and tested on a set of reaction-diffusion systems. The effect of incomplete assembly on CPU time and storage and on the performance of the temporal integrator DASPK, algebraic solver GMRES and preconditioner ILUT is studied

One Kind of Routing Algorithm Modified in Wireless Sensor Network

Directory of Open Access Journals (Sweden)

Wei Ni Ni

2016-01-01

Full Text Available The wireless sensor networks are the emerging next generation sensor networks, Routing technology is the wireless sensor network communication layer of the core technology. To build reliable paths in wireless sensor networks, we can consider two ways: providing multiple paths utilizing the redundancy to assure the communication reliability or constructing transmission reliability mechanism to assure the reliability of every hop. Braid multipath algorithm and ReInforM routing algorithm are the realizations of these two mechanisms. After the analysis of these two algorithms, this paper proposes a ReInforM routing algorithm based braid multipath routing algorithm.

The Best Path Analysis in Military Highway Transport Based on DEA and Multiobjective Fuzzy Decision-Making

Directory of Open Access Journals (Sweden)

Wu Juan

2014-01-01

Full Text Available Military transport path selection directly affects the transport speed, efficiency, and safety. To a certain degree, the results of the path selection determine success or failure of the war situation. The purpose of this paper is to propose a model based on DEA (data envelopment analysis and multiobjective fuzzy decision-making for path selection. The path decision set is established according to a search algorithm based on overlapping section punishment. Considering the influence of various fuzzy factors, the model of optimal path is constructed based on DEA and multitarget fuzzy decision-making theory, where travel time, transport risk, quick response capability, and transport cost constitute the evaluation target set. A reasonable path set can be calculated and sorted according to the comprehensive scores of the paths. The numerical results show that the model and the related algorithms are effective for path selection of military transport.

Computing the stretch factor and maximum detour of paths, trees, and cycles in the normed space

DEFF Research Database (Denmark)

Wulff-Nilsen, Christian; Grüne, Ansgar; Klein, Rolf

2012-01-01

(n log n) in the algebraic computation tree model and describe a worst-case O(σn log 2 n) time algorithm for computing the stretch factor or maximum detour of a path embedded in the plane with a weighted fixed orientation metric defined by σ time algorithm to d...... time. We also obtain an optimal O(n) time algorithm for computing the maximum detour of a monotone rectilinear path in L 1 plane....

Path-finding in real and simulated rats

DEFF Research Database (Denmark)

Tamosiunaite, Minija; Ainge, James; Kulvicius, Tomas

2008-01-01

without affecting the path characteristic two additional mechanisms are implemented: a gradual drop of the learned weights (weight decay) and path length limitation, which prevents learning if the reward is not found after some expected time. Both mechanisms limit the memory of the system and thereby......A large body of experimental evidence suggests that the hippocampal place field system is involved in reward based navigation learning in rodents. Reinforcement learning (RL) mechanisms have been used to model this, associating the state space in an RL-algorithm to the place-field map in a rat...... convergence of RL-algorithms is also influenced by the state space characteristics, different PF-sizes and densities, leading to a different degree of overlap, were also investigated. The model rat learns finding a reward opposite to its starting point. We observed that the combination of biased straight...

Algorithm for Fast and Efficient Detection and Reaction to Angle Instability Conditions Using Phasor Measurement Unit Data

Directory of Open Access Journals (Sweden)

Igor Ivanković

2018-03-01

Full Text Available In wide area monitoring, protection, and control (WAMPAC systems, angle stability of transmission network is monitored using data from phasor measurement units (PMU placed on transmission lines. Based on this PMU data stream advanced algorithm for out-of-step condition detection and early warning issuing is developed. The algorithm based on theoretical background described in this paper is backed up by the data and results from corresponding simulations done in Matlab environment. Presented results aim to provide the insights of the potential benefits, such as fast and efficient detection and reaction to angle instability, this algorithm can have on the improvement of the power system protection. Accordingly, suggestion is given how the developed algorithm can be implemented in protection segments of the WAMPAC systems in the transmission system operator control centers.

Calculation of reaction energies and adiabatic temperatures for waste tank reactions

International Nuclear Information System (INIS)

Burger, L.L.

1995-10-01

Continual concern has been expressed over potentially hazardous exothermic reactions that might occur in Hanford Site underground waste storage tanks. These tanks contain many different oxidizable compounds covering a wide range of concentrations. The chemical hazards are a function of several interrelated factors, including the amount of energy (heat) produced, how fast it is produced, and the thermal absorption and heat transfer properties of the system. The reaction path(s) will determine the amount of energy produced and kinetics will determine the rate that it is produced. The tanks also contain many inorganic compounds inert to oxidation. These compounds act as diluents and can inhibit exothermic reactions because of their heat capacity and thus, in contrast to the oxidizable compounds, provide mitigation of hazardous reactions. In this report the energy that may be released when various organic and inorganic compounds react is computed as a function of the reaction-mix composition and the temperature. The enthalpy, or integrated heat capacity, of these compounds and various reaction products is presented as a function of temperature; the enthalpy of a given mixture can then be equated to the energy release from various reactions to predict the maximum temperature which may be reached. This is estimated for several different compositions. Alternatively, the amounts of various diluents required to prevent the temperature from reaching a critical value can be estimated. Reactions taking different paths, forming different products such as N 2 O in place of N 2 are also considered, as are reactions where an excess of caustic is present. Oxidants other than nitrate and nitrite are considered briefly

Calculation of reaction energies and adiabatic temperatures for waste tank reactions

Energy Technology Data Exchange (ETDEWEB)

Burger, L.L.

1995-10-01

Continual concern has been expressed over potentially hazardous exothermic reactions that might occur in Hanford Site underground waste storage tanks. These tanks contain many different oxidizable compounds covering a wide range of concentrations. The chemical hazards are a function of several interrelated factors, including the amount of energy (heat) produced, how fast it is produced, and the thermal absorption and heat transfer properties of the system. The reaction path(s) will determine the amount of energy produced and kinetics will determine the rate that it is produced. The tanks also contain many inorganic compounds inert to oxidation. These compounds act as diluents and can inhibit exothermic reactions because of their heat capacity and thus, in contrast to the oxidizable compounds, provide mitigation of hazardous reactions. In this report the energy that may be released when various organic and inorganic compounds react is computed as a function of the reaction-mix composition and the temperature. The enthalpy, or integrated heat capacity, of these compounds and various reaction products is presented as a function of temperature; the enthalpy of a given mixture can then be equated to the energy release from various reactions to predict the maximum temperature which may be reached. This is estimated for several different compositions. Alternatively, the amounts of various diluents required to prevent the temperature from reaching a critical value can be estimated. Reactions taking different paths, forming different products such as N{sub 2}O in place of N{sub 2} are also considered, as are reactions where an excess of caustic is present. Oxidants other than nitrate and nitrite are considered briefly.

Nearby Search Indekos Based Android Using A Star (A*) Algorithm

Science.gov (United States)

Siregar, B.; Nababan, EB; Rumahorbo, JA; Andayani, U.; Fahmi, F.

2018-03-01

Indekos or rented room is a temporary residence for months or years. Society of academicians who come from out of town need a temporary residence, such as Indekos or rented room during their education, teaching, or duties. They are often found difficulty in finding a Indekos because lack of information about the Indekos. Besides, new society of academicians don’t recognize the areas around the campus and desire the shortest path from Indekos to get to the campus. The problem can be solved by implementing A Star (A*) algorithm. This algorithm is one of the shortest path algorithm to a finding shortest path from campus to the Indekos application, where the faculties in the campus as the starting point of the finding. Determination of the starting point used in this study aims to allow students to determine the starting point in finding the Indekos. The mobile based application facilitates the finding anytime and anywhere. Based on the experimental results, A* algorithm can find the shortest path with 86,67% accuracy.

MOCUS, Minimal Cut Sets and Minimal Path Sets from Fault Tree Analysis

International Nuclear Information System (INIS)

Fussell, J.B.; Henry, E.B.; Marshall, N.H.

1976-01-01

1 - Description of problem or function: From a description of the Boolean failure logic of a system, called a fault tree, and control parameters specifying the minimal cut set length to be obtained MOCUS determines the system failure modes, or minimal cut sets, and the system success modes, or minimal path sets. 2 - Method of solution: MOCUS uses direct resolution of the fault tree into the cut and path sets. The algorithm used starts with the main failure of interest, the top event, and proceeds to basic independent component failures, called primary events, to resolve the fault tree to obtain the minimal sets. A key point of the algorithm is that an and gate alone always increases the number of path sets; an or gate alone always increases the number of cut sets and increases the size of path sets. Other types of logic gates must be described in terms of and and or logic gates. 3 - Restrictions on the complexity of the problem: Output from MOCUS can include minimal cut and path sets for up to 20 gates

Sequential Optimization of Paths in Directed Graphs Relative to Different Cost Functions

KAUST Repository

Abubeker, Jewahir Ali; Chikalov, Igor; Hussain, Shahid; Moshkov, Mikhail

2011-01-01

This paper is devoted to the consideration of an algorithm for sequential optimization of paths in directed graphs relative to di_erent cost functions. The considered algorithm is based on an extension of dynamic programming which allows

Approximation Algorithm for a Heterogeneous Vehicle Routing Problem

Directory of Open Access Journals (Sweden)

Jungyun Bae

2015-08-01

Full Text Available This article addresses a fundamental path planning problem which aims to route a collection of heterogeneous vehicles such that each target location is visited by some vehicle and the sum of the travel costs of the vehicles is minimal. Vehicles are heterogeneous as the cost of traveling between any two locations depends on the type of the vehicle. Algorithms are developed for this path planning problem with bounds on the quality of the solutions produced by the algorithms. Computational results show that high quality solutions can be obtained for the path planning problem involving four vehicles and 40 targets using the proposed approach.

Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

Science.gov (United States)

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.

A new approach to shortest paths on networks based on the quantum bosonic mechanism

Energy Technology Data Exchange (ETDEWEB)

Jiang Xin; Wang Hailong; Tang Shaoting; Ma Lili; Zhang Zhanli; Zheng Zhiming, E-mail: jiangxin@ss.buaa.edu.cn [Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing University of Aeronautics and Astronautics, 100191 Beijing (China)

2011-01-15

This paper presents quantum bosonic shortest path searching (QBSPS), a natural, practical and highly heuristic physical algorithm for reasoning about the recognition of network structure via quantum dynamics. QBSPS is based on an Anderson-like itinerant bosonic system in which a boson's Green function is used as a navigation pointer for one to accurately approach the terminals. QBSPS is demonstrated by rigorous mathematical and physical proofs and plenty of simulations, showing how it can be used as a greedy routing to seek the shortest path between different locations. In methodology, it is an interesting and new algorithm rooted in the quantum mechanism other than combinatorics. In practice, for the all-pairs shortest-path problem in a random scale-free network with N vertices, QBSPS runs in O({mu}(N) ln ln N) time. In application, we suggest that the corresponding experimental realizations are feasible by considering path searching in quantum optical communication networks; in this situation, the method performs a pure local search on networks without requiring the global structure that is necessary for current graph algorithms.

Note: A pure-sampling quantum Monte Carlo algorithm with independent Metropolis

Energy Technology Data Exchange (ETDEWEB)

Vrbik, Jan [Department of Mathematics, Brock University, St. Catharines, Ontario L2S 3A1 (Canada); Ospadov, Egor; Rothstein, Stuart M., E-mail: srothstein@brocku.ca [Department of Physics, Brock University, St. Catharines, Ontario L2S 3A1 (Canada)

2016-07-14

Recently, Ospadov and Rothstein published a pure-sampling quantum Monte Carlo algorithm (PSQMC) that features an auxiliary Path Z that connects the midpoints of the current and proposed Paths X and Y, respectively. When sufficiently long, Path Z provides statistical independence of Paths X and Y. Under those conditions, the Metropolis decision used in PSQMC is done without any approximation, i.e., not requiring microscopic reversibility and without having to introduce any G(x → x′; τ) factors into its decision function. This is a unique feature that contrasts with all competing reptation algorithms in the literature. An example illustrates that dependence of Paths X and Y has adverse consequences for pure sampling.

Note: A pure-sampling quantum Monte Carlo algorithm with independent Metropolis

International Nuclear Information System (INIS)

Vrbik, Jan; Ospadov, Egor; Rothstein, Stuart M.

2016-01-01

Recently, Ospadov and Rothstein published a pure-sampling quantum Monte Carlo algorithm (PSQMC) that features an auxiliary Path Z that connects the midpoints of the current and proposed Paths X and Y, respectively. When sufficiently long, Path Z provides statistical independence of Paths X and Y. Under those conditions, the Metropolis decision used in PSQMC is done without any approximation, i.e., not requiring microscopic reversibility and without having to introduce any G(x → x′; τ) factors into its decision function. This is a unique feature that contrasts with all competing reptation algorithms in the literature. An example illustrates that dependence of Paths X and Y has adverse consequences for pure sampling.

Lecturers' and Students’ Perception on Learning Dijkstra’s Shortest Path Algorithm Through Mobile Devices

Directory of Open Access Journals (Sweden)

Mazyar Seraj

2014-06-01

Full Text Available In recent years, many studies have been carried out on how to engage and support students in e-learning environments. Portable devices such as Personal Digital Assistants (PDAs, Tablet PCs, mobile phones and other mobile equipment have been used as parts of electronic learning environments to facilitate learning and teaching for both lecturers and students. However, there is still a dearth of study investigating the effects of small screen interfaces on mobile-based learning environments. This study aims to address two objectives: (i investigate lecturer and student difficulties encountered in teaching-learning process in traditional face-to-face classroom settings, and (ii to explore lecturer and student perceptions about learning the subject through mobile devices. This paper presents the results of a qualitative study using structured interviews to investigate lecturer and student experiences and perceptions on teaching and learning Dijkstra’s shortest path algorithm via mobile devices. The interview insights were then used as inputs to define user requirements for a mobile learning prototype. The findings show that the lecturers and students raised many issues about interactivity and the flexibility of effective learning applications on small screen devices, especially for a technical subject.

Inferring anatomical therapeutic chemical (ATC) class of drugs using shortest path and random walk with restart algorithms.

Science.gov (United States)

Chen, Lei; Liu, Tao; Zhao, Xian

2018-06-01

The anatomical therapeutic chemical (ATC) classification system is a widely accepted drug classification scheme. This system comprises five levels and includes several classes in each level. Drugs are classified into classes according to their therapeutic effects and characteristics. The first level includes 14 main classes. In this study, we proposed two network-based models to infer novel potential chemicals deemed to belong in the first level of ATC classification. To build these models, two large chemical networks were constructed using the chemical-chemical interaction information retrieved from the Search Tool for Interactions of Chemicals (STITCH). Two classic network algorithms, shortest path (SP) and random walk with restart (RWR) algorithms, were executed on the corresponding network to mine novel chemicals for each ATC class using the validated drugs in a class as seed nodes. Then, the obtained chemicals yielded by these two algorithms were further evaluated by a permutation test and an association test. The former can exclude chemicals produced by the structure of the network, i.e., false positive discoveries. By contrast, the latter identifies the most important chemicals that have strong associations with the ATC class. Comparisons indicated that the two models can provide quite dissimilar results, suggesting that the results yielded by one model can be essential supplements for those obtained by the other model. In addition, several representative inferred chemicals were analyzed to confirm the reliability of the results generated by the two models. This article is part of a Special Issue entitled: Accelerating Precision Medicine through Genetic and Genomic Big Data Analysis edited by Yudong Cai & Tao Huang. Copyright © 2017 Elsevier B.V. All rights reserved.

A novel and facile decay path of Criegee intermediates by intramolecular insertion reactions via roaming transition states

Energy Technology Data Exchange (ETDEWEB)

Nguyen, Trong-Nghia [Department of Applied Chemistry and Institute of Molecular Science, National Chiao Tung University, Hsinchu 30010, Taiwan (China); Department of Physical Chemistry, Hanoi University of Science and Technology, Hanoi (Viet Nam); Putikam, Raghunath; Lin, M. C., E-mail: chemmcl@emory.edu [Department of Applied Chemistry and Institute of Molecular Science, National Chiao Tung University, Hsinchu 30010, Taiwan (China)

2015-03-28

We have discovered a new and highly competitive product channel in the unimolecular decay process for small Criegee intermediates, CH{sub 2}OO and anti/syn-CH{sub 3}C(H)OO, occurring by intramolecular insertion reactions via a roaming-like transition state (TS) based on quantum-chemical calculations. Our results show that in the decomposition of CH{sub 2}OO and anti-CH{sub 3}C(H)OO, the predominant paths directly produce cis-HC(O)OH and syn-CH{sub 3}C(O)OH acids with >110 kcal/mol exothermicities via loose roaming-like insertion TSs involving the terminal O atom and the neighboring C–H bonds. For syn-CH{sub 3}C(H)OO, the major decomposition channel occurs by abstraction of a H atom from the CH{sub 3} group by the terminal O atom producing CH{sub 2}C(H)O–OH. At 298 K, the intramolecular insertion process in CH{sub 2}OO was found to be 600 times faster than the commonly assumed ring-closing reaction.

An area-efficient path memory structure for VLSI Implementation of high speed Viterbi decoders

DEFF Research Database (Denmark)

Paaske, Erik; Pedersen, Steen; Sparsø, Jens

1991-01-01

Path storage and selection methods for Viterbi decoders are investigated with special emphasis on VLSI implementations. Two well-known algorithms, the register exchange, algorithm, REA, and the trace back algorithm, TBA, are considered. The REA requires the smallest number of storage elements...

Aircraft path planning for optimal imaging using dynamic cost functions

Science.gov (United States)

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.

Digital Path Approach Despeckle Filter for Ultrasound Imaging and Video

Directory of Open Access Journals (Sweden)

Marek Szczepański

2017-01-01

Full Text Available We propose a novel filtering technique capable of reducing the multiplicative noise in ultrasound images that is an extension of the denoising algorithms based on the concept of digital paths. In this approach, the filter weights are calculated taking into account the similarity between pixel intensities that belongs to the local neighborhood of the processed pixel, which is called a path. The output of the filter is estimated as the weighted average of pixels connected by the paths. The way of creating paths is pivotal and determines the effectiveness and computational complexity of the proposed filtering design. Such procedure can be effective for different types of noise but fail in the presence of multiplicative noise. To increase the filtering efficiency for this type of disturbances, we introduce some improvements of the basic concept and new classes of similarity functions and finally extend our techniques to a spatiotemporal domain. The experimental results prove that the proposed algorithm provides the comparable results with the state-of-the-art techniques for multiplicative noise removal in ultrasound images and it can be applied for real-time image enhancement of video streams.

Using Genetic Algorithms for Navigation Planning in Dynamic Environments

Directory of Open Access Journals (Sweden)

Ferhat Uçan

2012-01-01

Full Text Available Navigation planning can be considered as a combination of searching and executing the most convenient flight path from an initial waypoint to a destination waypoint. Generally the aim is to follow the flight path, which provides minimum fuel consumption for the air vehicle. For dynamic environments, constraints change dynamically during flight. This is a special case of dynamic path planning. As the main concern of this paper is flight planning, the conditions and objectives that are most probable to be used in navigation problem are considered. In this paper, the genetic algorithm solution of the dynamic flight planning problem is explained. The evolutionary dynamic navigation planning algorithm is developed for compensating the existing deficiencies of the other approaches. The existing fully dynamic algorithms process unit changes to topology one modification at a time, but when there are several such operations occurring in the environment simultaneously, the algorithms are quite inefficient. The proposed algorithm may respond to the concurrent constraint updates in a shorter time for dynamic environment. The most secure navigation of the air vehicle is planned and executed so that the fuel consumption is minimum.

Optimal Path Choice in Railway Passenger Travel Network Based on Residual Train Capacity

Directory of Open Access Journals (Sweden)

Fei Dou

2014-01-01

Full Text Available 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.

A Dynamic Hidden Forwarding Path Planning Method Based on Improved Q-Learning in SDN Environments

Directory of Open Access Journals (Sweden)

Yun Chen

2018-01-01

Full Text Available Currently, many methods are available to improve the target network’s security. The vast majority of them cannot obtain an optimal attack path and interdict it dynamically and conveniently. Almost all defense strategies aim to repair known vulnerabilities or limit services in target network to improve security of network. These methods cannot response to the attacks in real-time because sometimes they need to wait for manufacturers releasing corresponding countermeasures to repair vulnerabilities. In this paper, we propose an improved Q-learning algorithm to plan an optimal attack path directly and automatically. Based on this path, we use software-defined network (SDN to adjust routing paths and create hidden forwarding paths dynamically to filter vicious attack requests. Compared to other machine learning algorithms, Q-learning only needs to input the target state to its agents, which can avoid early complex training process. We improve Q-learning algorithm in two aspects. First, a reward function based on the weights of hosts and attack success rates of vulnerabilities is proposed, which can adapt to different network topologies precisely. Second, we remove the actions and merge them into every state that reduces complexity from O(N3 to O(N2. In experiments, after deploying hidden forwarding paths, the security of target network is boosted significantly without having to repair network vulnerabilities immediately.

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

Science.gov (United States)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

An algorithm for link restoration of wavelength routing optical networks

DEFF Research Database (Denmark)

Limal, Emmanuel; Stubkjær, Kristian

1999-01-01

We present an algorithm for restoration of single link failure in wavelength routing multihop optical networks. The algorithm is based on an innovative study of networks using graph theory. It has the following original features: it (i) assigns working and spare channels simultaneously, (ii......) prevents the search for unacceptable routing paths by pointing out channels required for restoration, (iii) offers a high utilization of the capacity resources and (iv) allows a trivial search for the restoration paths. The algorithm is for link restoration of networks without wavelength translation. Its...

Chemical memory reactions induced bursting dynamics in gene expression.

Science.gov (United States)

Tian, Tianhai

2013-01-01

Memory is a ubiquitous phenomenon in biological systems in which the present system state is not entirely determined by the current conditions but also depends on the time evolutionary path of the system. Specifically, many memorial phenomena are characterized by chemical memory reactions that may fire under particular system conditions. These conditional chemical reactions contradict to the extant stochastic approaches for modeling chemical kinetics and have increasingly posed significant challenges to mathematical modeling and computer simulation. To tackle the challenge, I proposed a novel theory consisting of the memory chemical master equations and memory stochastic simulation algorithm. A stochastic model for single-gene expression was proposed to illustrate the key function of memory reactions in inducing bursting dynamics of gene expression that has been observed in experiments recently. The importance of memory reactions has been further validated by the stochastic model of the p53-MDM2 core module. Simulations showed that memory reactions is a major mechanism for realizing both sustained oscillations of p53 protein numbers in single cells and damped oscillations over a population of cells. These successful applications of the memory modeling framework suggested that this innovative theory is an effective and powerful tool to study memory process and conditional chemical reactions in a wide range of complex biological systems.

PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time

Directory of Open Access Journals (Sweden)

N. Geng

2014-01-01

Full Text Available Since the strength of a trapped person often declines with time in urgent and dangerous circumstances, adopting a robot to rescue as many survivors as possible in limited time is of considerable significance. However, as one key issue in robot navigation, how to plan an optimal rescue path of a robot has not yet been fully solved. This paper studies robot path planning for multisurvivor rescue in limited survival time using a representative heuristic, particle swarm optimization (PSO. First, the robot path planning problem including multiple survivors is formulated as a discrete optimization one with high constraint, where the number of rescued persons is taken as the unique objective function, and the strength of a trapped person is used to constrain the feasibility of a path. Then, a new integer PSO algorithm is presented to solve the mathematical model, and several new operations, such as the update of a particle, the insertion and inversion operators, and the rapidly local search method, are incorporated into the proposed algorithm to improve its effectiveness. Finally, the simulation results demonstrate the capacity of our method in generating optimal paths with high quality.

Cooperative Path-Planning for Multi-Vehicle Systems

Directory of Open Access Journals (Sweden)

Qichen Wang

2014-11-01

Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

A note on "Multicriteria adaptive paths in stochastic, time-varying networks"

DEFF Research Database (Denmark)

Pretolani, Daniele; Nielsen, Lars Relund; Andersen, Kim Allan

In a recent paper, Opasanon and Miller-Hooks study multicriteria adaptive paths in stochastic time-varying networks. They propose a label correcting algorithm for finding the full set of efficient strategies. In this note we show that their algorithm is not correct, since it is based on a property...... that does not hold in general. Opasanon and Miller-Hooks also propose an algorithm for solving a parametric problem. We give a simplified algorithm which is linear in the input size....

PathNet: a tool for pathway analysis using topological information

Directory of Open Access Journals (Sweden)

Dutta Bhaskar

2012-09-01

Full Text Available Abstract Background Identification of canonical pathways through enrichment of differentially expressed genes in a given pathway is a widely used method for interpreting gene lists generated from high-throughput experimental studies. However, most algorithms treat pathways as sets of genes, disregarding any inter- and intra-pathway connectivity information, and do not provide insights beyond identifying lists of pathways. Results We developed an algorithm (PathNet that utilizes the connectivity information in canonical pathway descriptions to help identify study-relevant pathways and characterize non-obvious dependencies and connections among pathways using gene expression data. PathNet considers both the differential expression of genes and their pathway neighbors to strengthen the evidence that a pathway is implicated in the biological conditions characterizing the experiment. As an adjunct to this analysis, PathNet uses the connectivity of the differentially expressed genes among all pathways to score pathway contextual associations and statistically identify biological relations among pathways. In this study, we used PathNet to identify biologically relevant results in two Alzheimer’s disease microarray datasets, and compared its performance with existing methods. Importantly, PathNet identified de-regulation of the ubiquitin-mediated proteolysis pathway as an important component in Alzheimer’s disease progression, despite the absence of this pathway in the standard enrichment analyses. Conclusions PathNet is a novel method for identifying enrichment and association between canonical pathways in the context of gene expression data. It takes into account topological information present in pathways to reveal biological information. PathNet is available as an R workspace image from http://www.bhsai.org/downloads/pathnet/.

An efficient hybrid protection scheme with shared/dedicated backup paths on elastic optical networks

Directory of Open Access Journals (Sweden)

Nogbou G. Anoh

2017-02-01

Full Text Available Fast recovery and minimum utilization of resources are the two main criteria for determining the protection scheme quality. We address the problem of providing a hybrid protection approach on elastic optical networks under contiguity and continuity of available spectrum constraints. Two main hypotheses are used in this paper for backup paths computation. In the first case, it is assumed that backup paths resources are dedicated. In the second case, the assumption is that backup paths resources are available shared resources. The objective of the study is to minimize spectrum utilization to reduce blocking probability on a network. For this purpose, an efficient survivable Hybrid Protection Lightpath (HybPL algorithm is proposed for providing shared or dedicated backup path protection based on the efficient energy calculation and resource availability. Traditional First-Fit and Best-Fit schemes are employed to search and assign the available spectrum resources. The simulation results show that HybPL presents better performance in terms of blocking probability, compared with the Minimum Resources Utilization Dedicated Protection (MRU-DP algorithm which offers better performance than the Dedicated Protection (DP algorithm.

Genetic Algorithm for Traveling Salesman Problem with Modified Cycle Crossover Operator

Directory of Open Access Journals (Sweden)

Abid Hussain

2017-01-01

Full Text Available Genetic algorithms are evolutionary techniques used for optimization purposes according to survival of the fittest idea. These methods do not ensure optimal solutions; however, they give good approximation usually in time. The genetic algorithms are useful for NP-hard problems, especially the traveling salesman problem. The genetic algorithm depends on selection criteria, crossover, and mutation operators. To tackle the traveling salesman problem using genetic algorithms, there are various representations such as binary, path, adjacency, ordinal, and matrix representations. In this article, we propose a new crossover operator for traveling salesman problem to minimize the total distance. This approach has been linked with path representation, which is the most natural way to represent a legal tour. Computational results are also reported with some traditional path representation methods like partially mapped and order crossovers along with new cycle crossover operator for some benchmark TSPLIB instances and found improvements.

Nonadiabatic transition path sampling

International Nuclear Information System (INIS)

Sherman, M. C.; Corcelli, S. A.

2016-01-01

Fewest-switches surface hopping (FSSH) is combined with transition path sampling (TPS) to produce a new method called nonadiabatic path sampling (NAPS). The NAPS method is validated on a model electron transfer system coupled to a Langevin bath. Numerically exact rate constants are computed using the reactive flux (RF) method over a broad range of solvent frictions that span from the energy diffusion (low friction) regime to the spatial diffusion (high friction) regime. The NAPS method is shown to quantitatively reproduce the RF benchmark rate constants over the full range of solvent friction. Integrating FSSH within the TPS framework expands the applicability of both approaches and creates a new method that will be helpful in determining detailed mechanisms for nonadiabatic reactions in the condensed-phase.

Guiding brine shrimp through mazes by solving reaction diffusion equations

Science.gov (United States)

Singal, Krishma; Fenton, Flavio

Excitable systems driven by reaction diffusion equations have been shown to not only find solutions to mazes but to also to find the shortest path between the beginning and the end of the maze. In this talk we describe how we can use the Fitzhugh-Nagumo model, a generic model for excitable media, to solve a maze by varying the basin of attraction of its two fixed points. We demonstrate how two dimensional mazes are solved numerically using a Java Applet and then accelerated to run in real time by using graphic processors (GPUs). An application of this work is shown by guiding phototactic brine shrimp through a maze solved by the algorithm. Once the path is obtained, an Arduino directs the shrimp through the maze using lights from LEDs placed at the floor of the Maze. This method running in real time could be eventually used for guiding robots and cars through traffic.

A primal-dual exterior point algorithm for linear programming problems

Directory of Open Access Journals (Sweden)

Samaras Nikolaos

2009-01-01

Full Text Available The aim of this paper is to present a new simplex type algorithm for the Linear Programming Problem. The Primal - Dual method is a Simplex - type pivoting algorithm that generates two paths in order to converge to the optimal solution. The first path is primal feasible while the second one is dual feasible for the original problem. Specifically, we use a three-phase-implementation. The first two phases construct the required primal and dual feasible solutions, using the Primal Simplex algorithm. Finally, in the third phase the Primal - Dual algorithm is applied. Moreover, a computational study has been carried out, using randomly generated sparse optimal linear problems, to compare its computational efficiency with the Primal Simplex algorithm and also with MATLAB's Interior Point Method implementation. The algorithm appears to be very promising since it clearly shows its superiority to the Primal Simplex algorithm as well as its robustness over the IPM algorithm.

Efficient graph algorithms

Indian Academy of Sciences (India)

Shortest path problems. Road network on cities and we want to navigate between cities. . – p.8/30 ..... The rest of the talk... Computing connectivities between all pairs of vertices good algorithm wrt both space and time to compute the exact solution. . – p.15/30 ...

Architecture and design of optical path networks utilizing waveband virtual links

Science.gov (United States)

Ito, Yusaku; Mori, Yojiro; Hasegawa, Hiroshi; Sato, Ken-ichi

2016-02-01

We propose a novel optical network architecture that uses waveband virtual links, each of which can carry several optical paths, to directly bridge distant node pairs. Future photonic networks should not only transparently cover extended areas but also expand fiber capacity. However, the traversal of many ROADM nodes impairs the optical signal due to spectrum narrowing. To suppress the degradation, the bandwidth of guard bands needs to be increased, which degrades fiber frequency utilization. Waveband granular switching allows us to apply broader pass-band filtering at ROADMs and to insert sufficient guard bands between wavebands with minimum frequency utilization offset. The scheme resolves the severe spectrum narrowing effect. Moreover, the guard band between optical channels in a waveband can be minimized, which increases the number of paths that can be accommodated per fiber. In the network, wavelength path granular routing is done without utilizing waveband virtual links, and it still suffers from spectrum narrowing. A novel network design algorithm that can bound the spectrum narrowing effect by limiting the number of hops (traversed nodes that need wavelength path level routing) is proposed in this paper. This algorithm dynamically changes the waveband virtual link configuration according to the traffic distribution variation, where optical paths that need many node hops are effectively carried by virtual links. Numerical experiments demonstrate that the number of necessary fibers is reduced by 23% compared with conventional optical path networks.

Molecular structures enumeration and virtual screening in the chemical space with RetroPath2.0.

Science.gov (United States)

Koch, Mathilde; Duigou, Thomas; Carbonell, Pablo; Faulon, Jean-Loup

2017-12-19

Network generation tools coupled with chemical reaction rules have been mainly developed for synthesis planning and more recently for metabolic engineering. Using the same core algorithm, these tools apply a set of rules to a source set of compounds, stopping when a sink set of compounds has been produced. When using the appropriate sink, source and rules, this core algorithm can be used for a variety of applications beyond those it has been developed for. Here, we showcase the use of the open source workflow RetroPath2.0. First, we mathematically prove that we can generate all structural isomers of a molecule using a reduced set of reaction rules. We then use this enumeration strategy to screen the chemical space around a set of monomers and predict their glass transition temperatures, as well as around aminoglycosides to search structures maximizing antibacterial activity. We also perform a screening around aminoglycosides with enzymatic reaction rules to ensure biosynthetic accessibility. We finally use our workflow on an E. coli model to complete E. coli metabolome, with novel molecules generated using promiscuous enzymatic reaction rules. These novel molecules are searched on the MS spectra of an E. coli cell lysate interfacing our workflow with OpenMS through the KNIME Analytics Platform. We provide an easy to use and modify, modular, and open-source workflow. We demonstrate its versatility through a variety of use cases including molecular structure enumeration, virtual screening in the chemical space, and metabolome completion. Because it is open source and freely available on MyExperiment.org, workflow community contributions should likely expand further the features of the tool, even beyond the use cases presented in the paper.

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

Science.gov (United States)

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.

Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

Science.gov (United States)

Latip, Nor Badariyah Abdul; Omar, Rosli

2017-08-01

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.

Hypersensitivity reactions to metallic implants-diagnostic algorithm and suggested patch test series for clinical use

DEFF Research Database (Denmark)

Schalock, Peter C; Menné, Torkil; Johansen, Jeanne D

2011-01-01

algorithm to guide the selection of screening allergen series for patch testing is provided. At a minimum, an extended baseline screening series and metal screening is necessary. Static and dynamic orthopaedic implants, intravascular stent devices, implanted defibrillators and dental and gynaecological......Cutaneous and systemic hypersensitivity reactions to implanted metals are challenging to evaluate and treat. Although they are uncommon, they do exist, and require appropriate and complete evaluation. This review summarizes the evidence regarding evaluation tools, especially patch and lymphocyte...... transformation tests, for hypersensitivity reactions to implanted metal devices. Patch test evaluation is the gold standard for metal hypersensitivity, although the results may be subjective. Regarding pre-implant testing, those patients with a reported history of metal dermatitis should be evaluated by patch...

On the reachability and observability of path and cycle graphs

OpenAIRE

Parlangeli, Gianfranco; Notarstefano, Giuseppe

2011-01-01

In this paper we investigate the reachability and observability properties of a network system, running a Laplacian based average consensus algorithm, when the communication graph is a path or a cycle. More in detail, we provide necessary and sufficient conditions, based on simple algebraic rules from number theory, to characterize all and only the nodes from which the network system is reachable (respectively observable). Interesting immediate corollaries of our results are: (i) a path graph...

A simultaneous navigation and radiation evasion algorithm (SNARE)

Energy Technology Data Exchange (ETDEWEB)

Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan)

2013-12-15

Highlights: • A new navigation algorithm for radiation evasion around nuclear facilities. • An optimization criteria minimized under algorithm operation. • A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. • Benefits of using localized navigation as opposed to global navigation schemas. • A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. - Abstract: In this paper, we address the issue of localization as pertains to indoor navigation under radiation contaminated environments. In this context, navigation, in the absence of any GPS signals, is guided by the location of the sensors that make up the entire wireless sensor network in a given locality within a nuclear facility. It, also, draws on the radiation levels as measured by the sensors around a given locale. Here, localization is inherently embedded into the algorithm presented in (Khasawneh et al., 2011a, 2011b) which was designed to provide navigational guidance to optimize any of two criteria: “Radiation Evasion” and “Nearest Exit”. As such, the algorithm can either be applied to setting a navigational “lowest” radiation exposure path from an initial point A to some other point B; a case typical of occupational workers performing maintenance operations around the facility; or providing a radiation-safe passage from point A to the nearest exit. Algorithm's navigational performance is tested under statistical reference, wherein for a given number of runs (trials) algorithm performance is evaluated as a function of the number of steps of look-ahead it uses to acquire navigational information, and is compared against the performance of the renowned Dijkstra global navigation algorithm. This is done with reference to the amount of (radiation × time) product and that of the time needed to reach an exit point, under the two optimization criteria. To evaluate algorithm

A simultaneous navigation and radiation evasion algorithm (SNARE)

International Nuclear Information System (INIS)

Khasawneh, Mohammed A.; Jaradat, Mohammad A.; Al-Shboul, Zeina Aman M.

2013-01-01

Highlights: • A new navigation algorithm for radiation evasion around nuclear facilities. • An optimization criteria minimized under algorithm operation. • A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. • Benefits of using localized navigation as opposed to global navigation schemas. • A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. - Abstract: In this paper, we address the issue of localization as pertains to indoor navigation under radiation contaminated environments. In this context, navigation, in the absence of any GPS signals, is guided by the location of the sensors that make up the entire wireless sensor network in a given locality within a nuclear facility. It, also, draws on the radiation levels as measured by the sensors around a given locale. Here, localization is inherently embedded into the algorithm presented in (Khasawneh et al., 2011a, 2011b) which was designed to provide navigational guidance to optimize any of two criteria: “Radiation Evasion” and “Nearest Exit”. As such, the algorithm can either be applied to setting a navigational “lowest” radiation exposure path from an initial point A to some other point B; a case typical of occupational workers performing maintenance operations around the facility; or providing a radiation-safe passage from point A to the nearest exit. Algorithm's navigational performance is tested under statistical reference, wherein for a given number of runs (trials) algorithm performance is evaluated as a function of the number of steps of look-ahead it uses to acquire navigational information, and is compared against the performance of the renowned Dijkstra global navigation algorithm. This is done with reference to the amount of (radiation × time) product and that of the time needed to reach an exit point, under the two optimization criteria. To evaluate algorithm

Benefit of adaptive FEC in shared backup path protected elastic optical network.

Science.gov (United States)

Guo, Hong; Dai, Hua; Wang, Chao; Li, Yongcheng; Bose, Sanjay K; Shen, Gangxiang

2015-07-27

We apply an adaptive forward error correction (FEC) allocation strategy to an Elastic Optical Network (EON) operated with shared backup path protection (SBPP). To maximize the protected network capacity that can be carried, an Integer Linear Programing (ILP) model and a spectrum window plane (SWP)-based heuristic algorithm are developed. Simulation results show that the FEC coding overhead required by the adaptive FEC scheme is significantly lower than that needed by a fixed FEC allocation strategy resulting in higher network capacity for the adaptive strategy. The adaptive FEC allocation strategy can also significantly outperform the fixed FEC allocation strategy both in terms of the spare capacity redundancy and the average FEC coding overhead needed per optical channel. The proposed heuristic algorithm is efficient and not only performs closer to the ILP model but also does much better than the shortest-path algorithm.

Minimum-link paths among obstacles in the plane

NARCIS (Netherlands)

Mitchell, J.S.B.; Rote, G.; Woeginger, G.J.

1992-01-01

Given a set of nonintersecting polygonal obstacles in the plane, thelink distance between two pointss andt is the minimum number of edges required to form a polygonal path connectings tot that avoids all obstacles. We present an algorithm that computes the link distance (and a corresponding

Hybrid Multilevel Monte Carlo Simulation of Stochastic Reaction Networks

KAUST Repository

Moraes, Alvaro

2015-01-07

Stochastic reaction networks (SRNs) is a class of continuous-time Markov chains intended to describe, from the kinetic point of view, the time-evolution of chemical systems in which molecules of different chemical species undergo a finite set of reaction channels. This talk is based on articles [4, 5, 6], where we are interested in the following problem: given a SRN, X, defined though its set of reaction channels, and its initial state, x0, estimate E (g(X(T))); that is, the expected value of a scalar observable, g, of the process, X, at a fixed time, T. This problem lead us to define a series of Monte Carlo estimators, M, such that, with high probability can produce values close to the quantity of interest, E (g(X(T))). More specifically, given a user-selected tolerance, TOL, and a small confidence level, η, find an estimator, M, based on approximate sampled paths of X, such that, P (|E (g(X(T))) − M| ≤ TOL) ≥ 1 − η; even more, we want to achieve this objective with near optimal computational work. We first introduce a hybrid path-simulation scheme based on the well-known stochastic simulation algorithm (SSA)[3] and the tau-leap method [2]. Then, we introduce a Multilevel Monte Carlo strategy that allows us to achieve a computational complexity of order O(T OL−2), this is the same computational complexity as in an exact method but with a smaller constant. We provide numerical examples to show our results.

Vehicle Parameter Identification and its Use in Control for Safe Path Following

OpenAIRE

HONG, SANGHYUN

2014-01-01

This thesis develops vehicle parameter identification algorithms, and applies identified parameters to a controller designed for safe path following.A tire-road friction coefficient is estimated using an in-tire accelerometer to measure acceleration signals directly from the tires. The proposed algorithm first determines a tire-road contact patch with a radial acceleration profile.The estimation algorithm is based on tire lateral deflections obtained from lateral acceleration measurements onl...

The dissociative chemisorption of methane on Ni(100) and Ni(111): Classical and quantum studies based on the reaction path Hamiltonian

International Nuclear Information System (INIS)

Mastromatteo, Michael; Jackson, Bret

2013-01-01

Electronic structure methods based on density functional theory are used to construct a reaction path Hamiltonian for CH 4 dissociation on the Ni(100) and Ni(111) surfaces. Both quantum and quasi-classical trajectory approaches are used to compute dissociative sticking probabilities, including all molecular degrees of freedom and the effects of lattice motion. Both approaches show a large enhancement in sticking when the incident molecule is vibrationally excited, and both can reproduce the mode specificity observed in experiments. However, the quasi-classical calculations significantly overestimate the ground state dissociative sticking at all energies, and the magnitude of the enhancement in sticking with vibrational excitation is much smaller than that computed using the quantum approach or observed in the experiments. The origin of this behavior is an unphysical flow of zero point energy from the nine normal vibrational modes into the reaction coordinate, giving large values for reaction at energies below the activation energy. Perturbative assumptions made in the quantum studies are shown to be accurate at all energies studied

Effect of a limited-enforcement intelligent tutoring system in dermatopathology on student errors, goals and solution paths.

Science.gov (United States)

Payne, Velma L; Medvedeva, Olga; Legowski, Elizabeth; Castine, Melissa; Tseytlin, Eugene; Jukic, Drazen; Crowley, Rebecca S

2009-11-01

Determine effects of a limited-enforcement intelligent tutoring system in dermatopathology on student errors, goals and solution paths. Determine if limited enforcement in a medical tutoring system inhibits students from learning the optimal and most efficient solution path. Describe the type of deviations from the optimal solution path that occur during tutoring, and how these deviations change over time. Determine if the size of the problem-space (domain scope), has an effect on learning gains when using a tutor with limited enforcement. Analyzed data mined from 44 pathology residents using SlideTutor-a Medical Intelligent Tutoring System in Dermatopathology that teaches histopathologic diagnosis and reporting skills based on commonly used diagnostic algorithms. Two subdomains were included in the study representing sub-algorithms of different sizes and complexities. Effects of the tutoring system on student errors, goal states and solution paths were determined. Students gradually increase the frequency of steps that match the tutoring system's expectation of expert performance. Frequency of errors gradually declines in all categories of error significance. Student performance frequently differs from the tutor-defined optimal path. However, as students continue to be tutored, they approach the optimal solution path. Performance in both subdomains was similar for both errors and goal differences. However, the rate at which students progress toward the optimal solution path differs between the two domains. Tutoring in superficial perivascular dermatitis, the larger and more complex domain was associated with a slower rate of approximation towards the optimal solution path. Students benefit from a limited-enforcement tutoring system that leverages diagnostic algorithms but does not prevent alternative strategies. Even with limited enforcement, students converge toward the optimal solution path.

On algorithm for building of optimal α-decision trees

KAUST Repository

Alkhalid, Abdulaziz; Chikalov, Igor; Moshkov, Mikhail

2010-01-01

The paper describes an algorithm that constructs approximate decision trees (α-decision trees), which are optimal relatively to one of the following complexity measures: depth, total path length or number of nodes. The algorithm uses dynamic

Speed and path control for conflict-free flight in high air traffic demand in terminal airspace

Science.gov (United States)

Rezaei, Ali

To accommodate the growing air traffic demand, flights will need to be planned and navigated with a much higher level of precision than today's aircraft flight path. The Next Generation Air Transportation System (NextGen) stands to benefit significantly in safety and efficiency from such movement of aircraft along precisely defined paths. Air Traffic Operations (ATO) relying on such precision--the Precision Air Traffic Operations or PATO--are the foundation of high throughput capacity envisioned for the future airports. In PATO, the preferred method is to manage the air traffic by assigning a speed profile to each aircraft in a given fleet in a given airspace (in practice known as (speed control). In this research, an algorithm has been developed, set in the context of a Hybrid Control System (HCS) model, that determines whether a speed control solution exists for a given fleet of aircraft in a given airspace and if so, computes this solution as a collective speed profile that assures separation if executed without deviation. Uncertainties such as weather are not considered but the algorithm can be modified to include uncertainties. The algorithm first computes all feasible sequences (i.e., all sequences that allow the given fleet of aircraft to reach destinations without violating the FAA's separation requirement) by looking at all pairs of aircraft. Then, the most likely sequence is determined and the speed control solution is constructed by a backward trajectory generation, starting with the aircraft last out and proceeds to the first out. This computation can be done for different sequences in parallel which helps to reduce the computation time. If such a solution does not exist, then the algorithm calculates a minimal path modification (known as path control) that will allow separation-compliance speed control. We will also prove that the algorithm will modify the path without creating a new separation violation. The new path will be generated by adding new

Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain

DEFF Research Database (Denmark)

Hameed, Ibahim

2014-01-01

Field operations should be done in a manner that minimizes time and travels over the field surface. Automated and intelligent path planning can help to find the best coverage path so that costs of various field operations can be minimized. The algorithms for generating an optimized field coverage...

Based on Short Motion Paths and Artificial Intelligence Method for Chinese Chess Game

Directory of Open Access Journals (Sweden)

Chien-Ming Hung

2017-08-01

Full Text Available The article develops the decision rules to win each set of the Chinese chess game using evaluation algorithm and artificial intelligence method, and uses the mobile robot to be instead of the chess, and presents the movement scenarios using the shortest motion paths for mobile robots. Player can play the Chinese chess game according to the game rules with the supervised computer. The supervised computer decides the optimal motion path to win the set using artificial intelligence method, and controls mobile robots according to the programmed motion paths of the assigned chesses moving on the platform via wireless RF interface. We uses enhance A* searching algorithm to solve the shortest path problem of the assigned chess, and solve the collision problems of the motion paths for two mobile robots moving on the platform simultaneously. We implement a famous set to be called lwild horses run in farmr using the proposed method. First we use simulation method to display the motion paths of the assigned chesses for the player and the supervised computer. Then the supervised computer implements the simulation results on the chessboard platform using mobile robots. Mobile robots move on the chessboard platform according to the programmed motion paths and is guided to move on the centre line of the corridor, and avoid the obstacles (chesses, and detect the cross point of the platform using three reflective IR modules.

Optimal control of a Cope rearrangement by coupling the reaction path to a dissipative bath or a second active mode

International Nuclear Information System (INIS)

Chenel, A.; Meier, C.; Dive, G.; Desouter-Lecomte, M.

2015-01-01

We compare the strategy found by the optimal control theory in a complex molecular system according to the active subspace coupled to the field. The model is the isomerization during a Cope rearrangement of Thiele’s ester that is the most stable dimer obtained by the dimerization of methyl-cyclopentadienenylcarboxylate. The crudest partitioning consists in retaining in the active space only the reaction coordinate, coupled to a dissipative bath of harmonic oscillators which are not coupled to the field. The control then fights against dissipation by accelerating the passage across the transition region which is very wide and flat in a Cope reaction. This mechanism has been observed in our previous simulations [Chenel et al., J. Phys. Chem. A 116, 11273 (2012)]. We compare here, the response of the control field when the reaction path is coupled to a second active mode. Constraints on the integrated intensity and on the maximum amplitude of the fields are imposed limiting the control landscape. Then, optimum field from one-dimensional simulation cannot provide a very high yield. Better guess fields based on the two-dimensional model allow the control to exploit different mechanisms providing a high control yield. By coupling the reaction surface to a bath, we confirm the link between the robustness of the field against dissipation and the time spent in the delocalized states above the transition barrier

A New Finite Continuation Algorithm for Linear Programming

DEFF Research Database (Denmark)

Madsen, Kaj; Nielsen, Hans Bruun; Pinar, Mustafa

1996-01-01

We describe a new finite continuation algorithm for linear programming. The dual of the linear programming problem with unit lower and upper bounds is formulated as an $\\ell_1$ minimization problem augmented with the addition of a linear term. This nondifferentiable problem is approximated...... by a smooth problem. It is shown that the minimizers of the smooth problem define a family of piecewise-linear paths as a function of a smoothing parameter. Based on this property, a finite algorithm that traces these paths to arrive at an optimal solution of the linear program is developed. The smooth...

Multi-criteria ACO-based Algorithm for Ship’s Trajectory Planning

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Agnieszka Lazarowska

2017-03-01

Full Text Available The paper presents a new approach for solving a path planning problem for ships in the environment with static and dynamic obstacles. The algorithm utilizes a heuristic method, classified to the group of Swarm Intelligence approaches, called the Ant Colony Optimization. The method is inspired by a collective behaviour of ant colonies. A group of agents - artificial ants searches through the solution space in order to find a safe, optimal trajectory for a ship. The problem is considered as a multi-criteria optimization task. The criteria taken into account during problem solving are: path safety, path length, the International Regulations for Preventing Collisions at Sea (COLREGs compliance and path smoothness. The paper includes the description of the new multi-criteria ACO-based algorithm along with the presentation and discussion of simulation tests results.

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

Science.gov (United States)

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-01-01

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

Science.gov (United States)

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-02-11

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

An efficient forward–reverse expectation-maximization algorithm for statistical inference in stochastic reaction networks

KAUST Repository

Bayer, Christian

2016-02-20

© 2016 Taylor & Francis Group, LLC. ABSTRACT: In this work, we present an extension of the forward–reverse representation introduced by Bayer and Schoenmakers (Annals of Applied Probability, 24(5):1994–2032, 2014) to the context of stochastic reaction networks (SRNs). We apply this stochastic representation to the computation of efficient approximations of expected values of functionals of SRN bridges, that is, SRNs conditional on their values in the extremes of given time intervals. We then employ this SRN bridge-generation technique to the statistical inference problem of approximating reaction propensities based on discretely observed data. To this end, we introduce a two-phase iterative inference method in which, during phase I, we solve a set of deterministic optimization problems where the SRNs are replaced by their reaction-rate ordinary differential equations approximation; then, during phase II, we apply the Monte Carlo version of the expectation-maximization algorithm to the phase I output. By selecting a set of overdispersed seeds as initial points in phase I, the output of parallel runs from our two-phase method is a cluster of approximate maximum likelihood estimates. Our results are supported by numerical examples.

An efficient forward-reverse expectation-maximization algorithm for statistical inference in stochastic reaction networks

KAUST Repository

Vilanova, Pedro

2016-01-07

In this work, we present an extension of the forward-reverse representation introduced in Simulation of forward-reverse stochastic representations for conditional diffusions , a 2014 paper by Bayer and Schoenmakers to the context of stochastic reaction networks (SRNs). We apply this stochastic representation to the computation of efficient approximations of expected values of functionals of SRN bridges, i.e., SRNs conditional on their values in the extremes of given time-intervals. We then employ this SRN bridge-generation technique to the statistical inference problem of approximating reaction propensities based on discretely observed data. To this end, we introduce a two-phase iterative inference method in which, during phase I, we solve a set of deterministic optimization problems where the SRNs are replaced by their reaction-rate ordinary differential equations approximation; then, during phase II, we apply the Monte Carlo version of the Expectation-Maximization algorithm to the phase I output. By selecting a set of over-dispersed seeds as initial points in phase I, the output of parallel runs from our two-phase method is a cluster of approximate maximum likelihood estimates. Our results are supported by numerical examples.

An Efficient Shortest Path Routing Algorithm for Directed Indoor Environments

Directory of Open Access Journals (Sweden)

Sultan Alamri

2018-03-01

Full Text Available Routing systems for outdoor space have become the focus of many research works. Such routing systems are based on spatial road networks where moving objects (such as cars are affected by the directed roads and the movement of traffic, which may include traffic jams. Indoor routing, on the other hand, must take into account the features of indoor space such as walls and rooms. In this paper, we take indoor routing in a new direction whereby we consider the features that a building has in common with outdoor spaces. Inside some buildings, there may be directed floors where moving objects must move in a certain direction through directed corridors in order to reach a certain location. For example, on train platforms or in museums, movement in the corridors may be directed. In these directed floor spaces, a routing system enabling a visitor to take the shortest path to a certain location is essential. Therefore, this work proposes a new approach for buildings with directed indoor spaces, where each room can be affected by the density of the moving objects. The proposed system obtains the shortest path between objects or rooms taking into consideration the directed indoor space and the capacity of the objects to move within each room/cell.

Computing LS factor by runoff paths on TIN

Science.gov (United States)

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 localized navigation algorithm for Radiation Evasion for nuclear facilities. Part II: Optimizing the “Nearest Exit” Criterion

Energy Technology Data Exchange (ETDEWEB)

Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology (Jordan); Malkawi, Mohammad I., E-mail: mmalkawi@aimws.com [College of Engineering, Jadara University, Irbid 221 10 (Jordan)

2013-06-15

Highlights: ► A new navigation algorithm for Radiation Evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this extension from part I (Khasawneh et al., in press), we modify the navigation algorithm which was presented with the objective of optimizing the “Radiation Evasion” Criterion so that navigation would optimize the criterion of “Nearest Exit”. Under this modification, algorithm would yield navigation paths that would guide occupational workers towards Nearest Exit points. Again, under this optimization criterion, algorithm leverages the use of localized information acquired through a well designed and distributed wireless sensor network, as it averts the need for any long-haul communication links or centralized decision and monitoring facility thereby achieving a more reliable performance under dynamic environments. As was done in part I, the proposed algorithm under the “Nearest Exit” Criterion is designed to leverage nearest neighbor information coming in through the sensory network overhead, in computing successful navigational paths from one point to another. For comparison purposes, the proposed algorithm is tested under the two optimization criteria: “Radiation Evasion” and “Nearest Exit”, for different numbers of step look-ahead. We verify the performance of the algorithm by means of simulations, whereby navigational paths are calculated for different radiation fields. We, via simulations, also, verify the performance of the algorithm in comparison with a well-known global navigation algorithm upon which we draw our conclusions.

A localized navigation algorithm for Radiation Evasion for nuclear facilities. Part II: Optimizing the “Nearest Exit” Criterion

International Nuclear Information System (INIS)

Khasawneh, Mohammed A.; Al-Shboul, Zeina Aman M.; Jaradat, Mohammad A.; Malkawi, Mohammad I.

2013-01-01

Highlights: ► A new navigation algorithm for Radiation Evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this extension from part I (Khasawneh et al., in press), we modify the navigation algorithm which was presented with the objective of optimizing the “Radiation Evasion” Criterion so that navigation would optimize the criterion of “Nearest Exit”. Under this modification, algorithm would yield navigation paths that would guide occupational workers towards Nearest Exit points. Again, under this optimization criterion, algorithm leverages the use of localized information acquired through a well designed and distributed wireless sensor network, as it averts the need for any long-haul communication links or centralized decision and monitoring facility thereby achieving a more reliable performance under dynamic environments. As was done in part I, the proposed algorithm under the “Nearest Exit” Criterion is designed to leverage nearest neighbor information coming in through the sensory network overhead, in computing successful navigational paths from one point to another. For comparison purposes, the proposed algorithm is tested under the two optimization criteria: “Radiation Evasion” and “Nearest Exit”, for different numbers of step look-ahead. We verify the performance of the algorithm by means of simulations, whereby navigational paths are calculated for different radiation fields. We, via simulations, also, verify the performance of the algorithm in comparison with a well-known global navigation algorithm upon which we draw our conclusions

Edge- and Node-Disjoint Paths in P Systems

Directory of Open Access Journals (Sweden)

Michael J. Dinneen

2010-10-01

Full Text Available In this paper, we continue our development of algorithms used for topological network discovery. We present native P system versions of two fundamental problems in graph theory: finding the maximum number of edge- and node-disjoint paths between a source node and target node. We start from the standard depth-first-search maximum flow algorithms, but our approach is totally distributed, when initially no structural information is available and each P system cell has to even learn its immediate neighbors. For the node-disjoint version, our P system rules are designed to enforce node weight capacities (of one, in addition to edge capacities (of one, which are not readily available in the standard network flow algorithms.

Ants Colony Optimisation of a Measuring Path of Prismatic Parts on a CMM

Directory of Open Access Journals (Sweden)

Stojadinovic Slavenko M.

2016-03-01

Full Text Available This paper presents optimisation of a measuring probe path in inspecting the prismatic parts on a CMM. The optimisation model is based on: (i the mathematical model that establishes an initial collision-free path presented by a set of points, and (ii the solution of Travelling Salesman Problem (TSP obtained with Ant Colony Optimisation (ACO. In order to solve TSP, an ACO algorithm that aims to find the shortest path of ant colony movement (i.e. the optimised path is applied. Then, the optimised path is compared with the measuring path obtained with online programming on CMM ZEISS UMM500 and with the measuring path obtained in the CMM inspection module of Pro/ENGINEER® software. The results of comparing the optimised path with the other two generated paths show that the optimised path is at least 20% shorter than the path obtained by on-line programming on CMM ZEISS UMM500, and at least 10% shorter than the path obtained by using the CMM module in Pro/ENGINEER®.

Interactive multi-objective path planning through a palette-based user interface

Science.gov (United States)

Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

2016-05-01

n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a

The graph-theoretic minimum energy path problem for ionic conduction

Directory of Open Access Journals (Sweden)

Ippei Kishida

2015-10-01

Full Text Available A new computational method was developed to analyze the ionic conduction mechanism in crystals through graph theory. The graph was organized into nodes, which represent the crystal structures modeled by ionic site occupation, and edges, which represent structure transitions via ionic jumps. We proposed a minimum energy path problem, which is similar to the shortest path problem. An effective algorithm to solve the problem was established. Since our method does not use randomized algorithm and time parameters, the computational cost to analyze conduction paths and a migration energy is very low. The power of the method was verified by applying it to α-AgI and the ionic conduction mechanism in α-AgI was revealed. The analysis using single point calculations found the minimum energy path for long-distance ionic conduction, which consists of 12 steps of ionic jumps in a unit cell. From the results, the detailed theoretical migration energy was calculated as 0.11 eV by geometry optimization and nudged elastic band method. Our method can refine candidates for possible jumps in crystals and it can be adapted to other computational methods, such as the nudged elastic band method. We expect that our method will be a powerful tool for analyzing ionic conduction mechanisms, even for large complex crystals.

The shortest path algorithm performance comparison in graph and relational database on a transportation network

Directory of Open Access Journals (Sweden)

Mario Miler

2014-02-01

Full Text Available In the field of geoinformation and transportation science, the shortest path is calculated on graph data mostly found in road and transportation networks. This data is often stored in various database systems. Many applications dealing with transportation network require calculation of the shortest path. The objective of this research is to compare the performance of Dijkstra shortest path calculation in PostgreSQL (with pgRouting and Neo4j graph database for the purpose of determining if there is any difference regarding the speed of the calculation. Benchmarking was done on commodity hardware using OpenStreetMap road network. The first assumption is that Neo4j graph database would be well suited for the shortest path calculation on transportation networks but this does not come without some cost. Memory proved to be an issue in Neo4j setup when dealing with larger transportation networks.

Fuzzy Rules for Ant Based Clustering Algorithm

Directory of Open Access Journals (Sweden)

Amira Hamdi

2016-01-01

Full Text Available This paper provides a new intelligent technique for semisupervised data clustering problem that combines the Ant System (AS algorithm with the fuzzy c-means (FCM clustering algorithm. Our proposed approach, called F-ASClass algorithm, is a distributed algorithm inspired by foraging behavior observed in ant colonyT. The ability of ants to find the shortest path forms the basis of our proposed approach. In the first step, several colonies of cooperating entities, called artificial ants, are used to find shortest paths in a complete graph that we called graph-data. The number of colonies used in F-ASClass is equal to the number of clusters in dataset. Hence, the partition matrix of dataset founded by artificial ants is given in the second step, to the fuzzy c-means technique in order to assign unclassified objects generated in the first step. The proposed approach is tested on artificial and real datasets, and its performance is compared with those of K-means, K-medoid, and FCM algorithms. Experimental section shows that F-ASClass performs better according to the error rate classification, accuracy, and separation index.

Heuristic methods for shared backup path protection planning

DEFF Research Database (Denmark)

Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin

2012-01-01

schemes are employed. In contrast to manual intervention, automatic protection schemes such as Shared Backup Path Protection (SBPP) can recover from failure quickly and efficiently. SBPP is a simple but efficient protection scheme that can be implemented in backbone networks with technology available...... present heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5% was achieved for more than half of the benchmark instances (and a gap of less...

Covering path generation for autonomous turf-care vehicle

DEFF Research Database (Denmark)

Mai, Christian; Jouffroy, Jerome; Top, Søren

2017-01-01

A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf......-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate...

Partial Path Column Generation for the Vehicle Routing Problem

DEFF Research Database (Denmark)

Jepsen, Mads Kehlet; Petersen, Bjørn

This paper presents a column generation algorithm for the Capacitated Vehicle Routing Problem (CVRP) and the Vehicle Routing Problem with Time Windows (VRPTW). Traditionally, column generation models of the CVRP and VRPTW have consisted of a Set Partitioning master problem with each column...... of the giant tour’; a so-called partial path, i.e., not necessarily starting and ending in the depot. This way, the length of the partial path can be bounded and a better control of the size of the solution space for the pricing problem can be obtained....

The shortest-path problem analysis and comparison of methods

CERN Document Server

Ortega-Arranz, Hector; Gonzalez-Escribano, Arturo

2014-01-01

Many applications in different domains need to calculate the shortest-path between two points in a graph. In this paper we describe this shortest path problem in detail, starting with the classic Dijkstra's algorithm and moving to more advanced solutions that are currently applied to road network routing, including the use of heuristics and precomputation techniques. Since several of these improvements involve subtle changes to the search space, it may be difficult to appreciate their benefits in terms of time or space requirements. To make methods more comprehensive and to facilitate their co

Reliable Ant Colony Routing Algorithm for Dual-Channel Mobile Ad Hoc Networks

Directory of Open Access Journals (Sweden)

YongQiang Li

2018-01-01

Full Text Available For the problem of poor link reliability caused by high-speed dynamic changes and congestion owing to low network bandwidth in ad hoc networks, an ant colony routing algorithm, based on reliable path under dual-channel condition (DSAR, is proposed. First, dual-channel communication mode is used to improve network bandwidth, and a hierarchical network model is proposed to optimize the dual-layer network. Thus, we reduce network congestion and communication delay. Second, a comprehensive reliable path selection strategy is designed, and the reliable path is selected ahead of time to reduce the probability of routing restart. Finally, the ant colony algorithm is used to improve the adaptability of the routing algorithm to changes of network topology. Simulation results show that DSAR improves the reliability of routing, packet delivery, and throughput.

Dynamic Arc Fitting Path Follower for Skid-Steered Mobile Robots

Directory of Open Access Journals (Sweden)

Peter Lepej

2015-10-01

Full Text Available Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities are produced for mobile bases. Therefore we have focused on this area because there is only a small amount of available path following software for skid-steered mobile robots. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile bases. Our approach is based on an arc fitting algorithm, which takes into account the robot constraints and kinematical model. It produces a continuous trajectory where fitting to the given path is adapted based on given parameters. Moreover, we have included orientation angle compensation while the mobile robot is moving and ground inclination compensation. Our rescue robot is described, together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software and curvature velocity approach. The results for the proposed algorithm are shown for the simulation results and the experiment.

Solution Path for Pin-SVM Classifiers With Positive and Negative $\\tau $ Values.

Science.gov (United States)

Huang, Xiaolin; Shi, Lei; Suykens, Johan A K

2017-07-01

Applying the pinball loss in a support vector machine (SVM) classifier results in pin-SVM. The pinball loss is characterized by a parameter τ . Its value is related to the quantile level and different τ values are suitable for different problems. In this paper, we establish an algorithm to find the entire solution path for pin-SVM with different τ values. This algorithm is based on the fact that the optimal solution to pin-SVM is continuous and piecewise linear with respect to τ . We also show that the nonnegativity constraint on τ is not necessary, i.e., τ can be extended to negative values. First, in some applications, a negative τ leads to better accuracy. Second, τ = -1 corresponds to a simple solution that links SVM and the classical kernel rule. The solution for τ = -1 can be obtained directly and then be used as a starting point of the solution path. The proposed method efficiently traverses τ values through the solution path, and then achieves good performance by a suitable τ . In particular, τ = 0 corresponds to C-SVM, meaning that the traversal algorithm can output a result at least as good as C-SVM with respect to validation error.

A new accurate curvature matching and optimal tool based five-axis machining algorithm

International Nuclear Information System (INIS)

Lin, Than; Lee, Jae Woo; Bohez, Erik L. J.

2009-01-01

Free-form surfaces are widely used in CAD systems to describe the part surface. Today, the most advanced machining of free from surfaces is done in five-axis machining using a flat end mill cutter. However, five-axis machining requires complex algorithms for gouging avoidance, collision detection and powerful computer-aided manufacturing (CAM) systems to support various operations. An accurate and efficient method is proposed for five-axis CNC machining of free-form surfaces. The proposed algorithm selects the best tool and plans the tool path autonomously using curvature matching and integrated inverse kinematics of the machine tool. The new algorithm uses the real cutter contact tool path generated by the inverse kinematics and not the linearized piecewise real cutter location tool path

A fast tomographic method for searching the minimum free energy path

International Nuclear Information System (INIS)

Chen, Changjun; Huang, Yanzhao; Xiao, Yi; Jiang, Xuewei

2014-01-01

Minimum Free Energy Path (MFEP) provides a lot of important information about the chemical reactions, like the free energy barrier, the location of the transition state, and the relative stability between reactant and product. With MFEP, one can study the mechanisms of the reaction in an efficient way. Due to a large number of degrees of freedom, searching the MFEP is a very time-consuming process. Here, we present a fast tomographic method to perform the search. Our approach first calculates the free energy surfaces in a sequence of hyperplanes perpendicular to a transition path. Based on an objective function and the free energy gradient, the transition path is optimized in the collective variable space iteratively. Applications of the present method to model systems show that our method is practical. It can be an alternative approach for finding the state-to-state MFEP

Robust Video Stabilization Using Particle Keypoint Update and l1-Optimized Camera Path

Directory of Open Access Journals (Sweden)

Semi Jeon

2017-02-01

Full Text Available Acquisition of stabilized video is an important issue for various type of digital cameras. This paper presents an adaptive camera path estimation method using robust feature detection to remove shaky artifacts in a video. The proposed algorithm consists of three steps: (i robust feature detection using particle keypoints between adjacent frames; (ii camera path estimation and smoothing; and (iii rendering to reconstruct a stabilized video. As a result, the proposed algorithm can estimate the optimal homography by redefining important feature points in the flat region using particle keypoints. In addition, stabilized frames with less holes can be generated from the optimal, adaptive camera path that minimizes a temporal total variation (TV. The proposed video stabilization method is suitable for enhancing the visual quality for various portable cameras and can be applied to robot vision, driving assistant systems, and visual surveillance systems.

Quad-rotor flight path energy optimization

Science.gov (United States)

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.

Information spread of emergency events: path searching on social networks.

Science.gov (United States)

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.

Information Spread of Emergency Events: Path Searching on Social Networks

Directory of Open Access Journals (Sweden)

Weihui Dai

2014-01-01

Full Text Available 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.

A transport-based condensed history algorithm

International Nuclear Information System (INIS)

Tolar, D. R. Jr.

1999-01-01

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 (user-specified) path length s 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 0 . For example, the PEnELOPE method splits each step into two substeps; one with length ξs 0 and one with length (1 minusξ)s 0 , where ξ is a random number from 0 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

Path Planning for Unmanned Underwater Vehicle in 3D Space with Obstacles Using Spline-Imperialist Competitive Algorithm and Optimal Interval Type-2 Fuzzy Logic Controller

Directory of Open Access Journals (Sweden)

Ehsan Zakeri

Full Text Available Abstract In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA in three-dimensional space such that the shortest possible path from the starting point to the target point without colliding with obstacles is achieved. Furthermore, for guiding the UUV in the generated path, an Interval Type-2 Fuzzy Logic Controller (IT2FLC, the coefficients of which are optimized by considering an objective function that includes quadratic terms of the input forces and state error of the system, is used. Selecting such objective function reduces the control error and also the force applied to the UUV, which consequently leads to reduction of energy consumption. Therefore, by using a special method, desired signals of UUV state are obtained from generated three-dimensional optimal path such that tracking these signals by the controller leads to the tracking of this path by UUV. In this paper, the dynamical model of the UUV, entitled as "mUUV-WJ-1" , is derived and its hydrodynamic coefficients are calculated by CFD in order to be used in the simulations. For simulation by the method presented in this study, three environments with different obstacles are intended in order to check the performance of the IT2FLC controller in generating optimal paths for guiding the UUV. In this article, in addition to ICA, Particle Swarm Optimization (PSO and Artificial Bee Colony (ABC are also used for generation of the paths and the results are compared with each other. The results show the appropriate performance of ICA rather than ABC and PSO. Moreover, to evaluate the performance of the IT2FLC, optimal Type-1 Fuzzy Logic Controller (T1FLC and Proportional Integrator Differentiator (PID controller are designed

Path Searching Based Fault Automated Recovery Scheme for Distribution Grid with DG

Science.gov (United States)

Xia, Lin; Qun, Wang; Hui, Xue; Simeng, Zhu

2016-12-01

Applying the method of path searching based on distribution network topology in setting software has a good effect, and the path searching method containing DG power source is also applicable to the automatic generation and division of planned islands after the fault. This paper applies path searching algorithm in the automatic division of planned islands after faults: starting from the switch of fault isolation, ending in each power source, and according to the line load that the searching path traverses and the load integrated by important optimized searching path, forming optimized division scheme of planned islands that uses each DG as power source and is balanced to local important load. Finally, COBASE software and distribution network automation software applied are used to illustrate the effectiveness of the realization of such automatic restoration program.

The Study of Intelligent Vehicle Navigation Path Based on Behavior Coordination of Particle Swarm.

Science.gov (United States)

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.

A quantum algorithm for Viterbi decoding of classical convolutional codes

Science.gov (United States)

Grice, Jon R.; Meyer, David A.

2015-07-01

We present a quantum Viterbi algorithm (QVA) with better than classical performance under certain conditions. In this paper, the proposed algorithm is applied to decoding classical convolutional codes, for instance, large constraint length and short decode frames . Other applications of the classical Viterbi algorithm where is large (e.g., speech processing) could experience significant speedup with the QVA. The QVA exploits the fact that the decoding trellis is similar to the butterfly diagram of the fast Fourier transform, with its corresponding fast quantum algorithm. The tensor-product structure of the butterfly diagram corresponds to a quantum superposition that we show can be efficiently prepared. The quantum speedup is possible because the performance of the QVA depends on the fanout (number of possible transitions from any given state in the hidden Markov model) which is in general much less than . The QVA constructs a superposition of states which correspond to all legal paths through the decoding lattice, with phase as a function of the probability of the path being taken given received data. A specialized amplitude amplification procedure is applied one or more times to recover a superposition where the most probable path has a high probability of being measured.

Procedures for Decomposing a Redox Reaction into Half-Reaction

Science.gov (United States)

Fishtik, Ilie; Berka, Ladislav H.

2005-01-01

A simple algorithm for a complete enumeration of the possible ways a redox reaction (RR) might be uniquely decomposed into half-reactions (HRs) using the response reactions (RERs) formalism is presented. A complete enumeration of the possible ways a RR may be decomposed into HRs is equivalent to a complete enumeration of stoichiometrically…

Comparison of Pilot Symbol Embedded Channel Estimation Algorithms

Directory of Open Access Journals (Sweden)

P. Kadlec

2009-12-01

Full Text Available In the paper, algorithms of the pilot symbol embedded channel estimation are compared. Attention is turned to the Least Square (LS channel estimation and the Sliding Correlator (SC algorithm. Both algorithms are implemented in Matlab to estimate the Channel Impulse Response (CIR of a channel exhibiting multi-path propagation. Algorithms are compared from the viewpoint of computational demands, influence of the Additive White Gaussian Noise (AWGN, an embedded pilot symbol and a computed CIR over the estimation error.

Career Path Suggestion using String Matching and Decision Trees

Science.gov (United States)

Nagpal, Akshay; P. Panda, Supriya

2015-05-01

High school and college graduates seemingly are often battling for the courses they should major in order to achieve their target career. In this paper, we worked on suggesting a career path to a graduate to reach his/her dream career given the current educational status. Firstly, we collected the career data of professionals and academicians from various career fields and compiled the data set by using the necessary information from the data. Further, this was used as the basis to suggest the most appropriate career path for the person given his/her current educational status. Decision trees and string matching algorithms were employed to suggest the appropriate career path for a person. Finally, an analysis of the result has been done directing to further improvements in the model.

TP-Space RRT – Kinematic Path Planning of Non-Holonomic Any-Shape Vehicles

Directory of Open Access Journals (Sweden)

Jose Luis Blanco

2015-05-01

Full Text Available The autonomous navigation of vehicles typically combines two kinds of methods: a path is first planned, and then the robot is driven by a local obstacle-avoidance controller. The present work, which focuses on path planning, proposes an extension to the well-known rapidly-exploring random tree (RRT algorithm to allow its integration with a trajectory parameter-space (TP-space as an efficient method to detect collision-free, kinematically-feasible paths for arbitrarily-shaped vehicles. In contrast to original RRT, this proposal generates navigation trees, with poses as nodes, whose edges are all kinematically-feasible paths, suitable to being accurately followed by vehicles driven by pure reactive algorithms. Initial experiments demonstrate the suitability of the method with an Ackermann-steering vehicle model whose severe kinematic constraints cannot be obviated. An important result that sets this work apart from previous research is the finding that employing several families of potential trajectories to expand the tree, which can be done efficiently under the TP-space formalism, improves the optimality of the planned trajectories. A reference C++ implementation has been released as open-source.

Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.

Science.gov (United States)

Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

2017-08-15

This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.

Capture reactions on C-14 in nonstandard big bang nucleosynthesis

Science.gov (United States)

Wiescher, Michael; Gorres, Joachim; Thielemann, Friedrich-Karl

1990-01-01

Nonstandard big bang nucleosynthesis leads to the production of C-14. The further reaction path depends on the depletion of C-14 by either photon, alpha, or neutron capture reactions. The nucleus C-14 is of particular importance in these scenarios because it forms a bottleneck for the production of heavier nuclei A greater than 14. The reaction rates of all three capture reactions at big bang conditions are discussed, and it is shown that the resulting reaction path, leading to the production of heavier elements, is dominated by the (p, gamma) and (n, gamma) rates, contrary to earlier suggestions.

The mean free path of protons in nuclei and the nuclear radius

International Nuclear Information System (INIS)

Dymarz, R.; Kohmura, T.

1983-01-01

We determine the mean free path of protons in nuclei in the energy range 40-1000 MeV. We find that it is necessary to use in the calculation of the mean free path the nuclear radius R which reproduces the reaction and total cross sections consistently and that this radius leads to a rather small mean free path which is comparable with the value obtained in the microscopic calculation in the whole energy region. (orig.)

Position and Attitude Alternate of Path Tracking Heading Control

Directory of Open Access Journals (Sweden)

Baocheng Tan

2014-03-01

Full Text Available The path tracking control algorithm is one of the key problems in the control system design of autonomous vehicle. In this paper, we have conducted dynamic modeling for autonomous vehicle, the relationship between course deviation and yaw rate and centroid deflection angle. From the angle of the dynamics and geometrical, this paper have described the path tracking problem, analyzed the emergence of the eight autonomous vehicles pose binding - position and attitude alternate control methods to identify the relationship between posture and the controlling variables, and design a controller, the experimental results verify the feasibility and effectiveness of this control method.

A localized navigation algorithm for radiation evasion for nuclear facilities: Optimizing the “Radiation Evasion” criterion: Part I

International Nuclear Information System (INIS)

Khasawneh, Mohammed A.; Al-Shboul, Zeina Aman M.; Jaradat, Mohammad A.

2013-01-01

Highlights: ► A new navigation algorithm for radiation evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this paper, we introduce a navigation algorithm having general utility for occupational workers at nuclear facilities and places where radiation poses serious health hazards. This novel algorithm leverages the use of localized information for its operation. Therefore, the need for central processing and decision resources is avoided, since information processing and the ensuing decision-making are done aboard a man-borne device. To acquire the information needed for path planning in radiation avoidance, a well-designed and distributed wireless sensory infrastructure is needed. This will automatically benefit from the most recent trends in technology developments in both sensor networks and wireless communication. When used to navigate based on local radiation information, the algorithm will behave more reliably when accidents happen, since no long-haul communication links are required for information exchange. In essence, the proposed algorithm is designed to leverage nearest neighbor information coming in through the sensory network overhead, to compute successful navigational paths from one point to another. The proposed algorithm is tested under the “Radiation Evasion” criterion. It is also tested for the case when more information, beyond nearest neighbors, is made available; here, we test its operation for different numbers of step look-ahead. We verify algorithm performance by means of simulations, whereby navigational paths are calculated for different radiation fields

A localized navigation algorithm for radiation evasion for nuclear facilities: Optimizing the “Radiation Evasion” criterion: Part I

Energy Technology Data Exchange (ETDEWEB)

Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan)

2013-06-15

Highlights: ► A new navigation algorithm for radiation evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this paper, we introduce a navigation algorithm having general utility for occupational workers at nuclear facilities and places where radiation poses serious health hazards. This novel algorithm leverages the use of localized information for its operation. Therefore, the need for central processing and decision resources is avoided, since information processing and the ensuing decision-making are done aboard a man-borne device. To acquire the information needed for path planning in radiation avoidance, a well-designed and distributed wireless sensory infrastructure is needed. This will automatically benefit from the most recent trends in technology developments in both sensor networks and wireless communication. When used to navigate based on local radiation information, the algorithm will behave more reliably when accidents happen, since no long-haul communication links are required for information exchange. In essence, the proposed algorithm is designed to leverage nearest neighbor information coming in through the sensory network overhead, to compute successful navigational paths from one point to another. The proposed algorithm is tested under the “Radiation Evasion” criterion. It is also tested for the case when more information, beyond nearest neighbors, is made available; here, we test its operation for different numbers of step look-ahead. We verify algorithm performance by means of simulations, whereby navigational paths are calculated for different radiation fields.

The study of system function analysis method for success path alarm design

International Nuclear Information System (INIS)

Kang, S. K.; Shin, Y. C.

1999-01-01

The key benefit to the common use of the critical function approach for safety and mission functions is that monitoring methods expected to be used by operaotrs during emergency condition are used continuously during normal operation. For each critical safety function there exists two or more success paths. Information Processing System monitors the availability, operation state and performance of the critical function success paths. In this paper, We have studied System Function Analysis(SFA) for the design of Success Path Alarm(SPA) for applying in KNGR. In here, we thought that SFA will help the design of SPA. The SFA can be applicable to the design of SPA according to NUREG-0711, also can induce the algorithm for alarm of system, train and flow path. We present a method of system function analysis for designing Success Path Alarm

Optimal parallel algorithms for problems modeled by a family of intervals

Science.gov (United States)

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.

Calculations of the main free path on neutron emission cross-section for spallation reaction of target and fuel nuclei

International Nuclear Information System (INIS)

Tel, E.; Kisoglu, H. F.; Topaksu, A. K.; Aydin, A.; Kaplan, A.

2007-01-01

There are several new technological application fields of fast neutrons such as accelerator-driven incineration/ transmutation of the long-lived radioactive nuclear wastes (in particular transuranium nuclides) to short-lived or stable isotopes by secondary spallation neutrons produced by high-intensity, intermediate-energy, charged-particle beams, prolonged planetary space missions, shielding for particle accelerators. Especially, accelerator driven subcritical systems (ADS) can be used for fission energy production and /or nuclear waste transmutation as well as in the intermediate-energy accelerator driven neutron sources, ions and neutrons with energies beyond 20 MeV, the upper limit of exiting data files that produced for fusion and fission applications. In these systems, the neutron scattering cross sections and emission differential data are very important for reactor neutronics calculations. The transition rate calculation involves the introduction of the parameter of mean free path determines the mean free path of the nucleon in the nuclear matter. This parameter allows an increase in mean free path, with simulation of effect, which is not considered in the calculations, such as conservation of parity and angular momentum in intra nuclear transitions. In this study, we have investigated the multiple preequilibrium matrix element constant from internal transition for Uranium, Thorium, (n,xn) neutron emission spectra. The neutron-emission spectra produced by (n,xn) reactions on nuclei of some target (for spallation) have been calculated. In the calculations, we have used the geometry dependent hybrid model and the cascade exciton model including the effects of the preequilibrium. The pre-equilibrium direct effects have been examined by using full exciton model. All calculated results have been compared with the experimental data. The obtained results have been discussed and compared with the available experimental data and found agreement with each other

PRINCIPLES OF INDICATION FOR EN-ROUTE FLIGHT PATHS OF THE AIRCRAFT ON THE SCREEN OF ON-BOARD DISPLAY DEVICES

Directory of Open Access Journals (Sweden)

V. V. Markelov

2016-01-01

Full Text Available Subject of Research.We consider the principles and algorithms for construction of en-route flight paths of an aircraft (airplane in a horizontal plane for their subsequent display on the navigation situation indicators in the cockpit. Navigation situation indicatorsaredisplay devices designed on the basis of flat liquid crystal panel. Methods. Flight trajectory display by on-board multifunction indicators is performed by successive drawing of graphic primitives available in the library and defined in accordance with an array of data to display the route. An array of data is generated by on-board software complex based on the information provided in the flight task and the corresponding «Jeppesen» database or analogous one. Formation of the array is carried out by bringing the set of trajectory paths to the format of three typical trajectories described. In addition, each of the types of trajectories has a standard description of the algorithm for calculating the parameters that make up an array of data to display.Main Results.The algorithms of forming and calculating the amounts of data of routing paths required for their construction and display on the multifunction indicators applied in avionics.Practical Relevance.These novel routing algorithms for constructing trajectory paths unify algorithms of generating information for display on the navigation situation indicators and optimize a set of calculated data for flight control at the trajectory in the horizontal plane.

Fuzzy logic and A* algorithm implementation on goat foraging games

Science.gov (United States)

Harsani, P.; Mulyana, I.; Zakaria, D.

2018-03-01

Goat foraging is one of the games that apply the search techniques within the scope of artificial intelligence. This game involves several actors including players and enemies. The method used in this research is fuzzy logic and Algorithm A*. Fuzzy logic is used to determine enemy behaviour. The A* algorithm is used to search for the shortest path. There are two input variables: the distance between the player and the enemy and the anger level of the goat. The output variable that has been defined is the enemy behaviour. The A* algorithm is used to determine the closest path between the player and the enemy and define the enemy's escape path to avoid the player. There are 4 types of enemies namely farmers, planters, farmers and sellers of plants. Players are goats that aims to find a meal that is a plant. In this game goats aim to spend grass in the garden in the form of a maze while avoiding the enemy. The game provides an application of artificial intelligence and is made in four difficulty levels.

System Design and Implementation of Intelligent Fire Engine Path Planning based on SAT Algorithm

Institute of Scientific and Technical Information of China (English)

CAI Li-sha[1; ZENG Wei-peng[1; HAN Bao-ru[1

2016-01-01

In this paper, in order to make intelligent fi re car complete autonomy path planning in simulation map. Proposed system design of intelligent fi re car path planning based on SAT. The system includes a planning module, a communication module, a control module. Control module via the communication module upload the initial state and the goal state to planning module. Planning module solve this planning solution,and then download planning solution to control module, control the movement of the car fi re. Experiments show this the system is tracking short time, higher planning effi ciency.

Electron transfer reactions

CERN Document Server

Cannon, R D

2013-01-01

Electron Transfer Reactions deals with the mechanisms of electron transfer reactions between metal ions in solution, as well as the electron exchange between atoms or molecules in either the gaseous or solid state. The book is divided into three parts. Part 1 covers the electron transfer between atoms and molecules in the gas state. Part 2 tackles the reaction paths of oxidation states and binuclear intermediates, as well as the mechanisms of electron transfer. Part 3 discusses the theories and models of the electron transfer process; theories and experiments involving bridged electron transfe

Reaction chemistry of nitrogen species in hydrothermal systems: Simple reactions, waste simulants, and actual wastes

International Nuclear Information System (INIS)

Dell'Orco, P.; Luan, L.; Proesmans, P.; Wilmanns, E.

1995-01-01

Results are presented from hydrothermal reaction systems containing organic components, nitrogen components, and an oxidant. Reaction chemistry observed in simple systems and in simple waste simulants is used to develop a model which presents global nitrogen chemistry in these reactive systems. The global reaction path suggested is then compared with results obtained for the treatment of an actual waste stream containing only C-N-0-H species

Complete active space second order perturbation theory (CASPT2) study of N({sup 2}D) + H{sub 2}O reaction paths on D{sub 1} and D{sub 0} potential energy surfaces: Direct and roaming pathways

Energy Technology Data Exchange (ETDEWEB)

Isegawa, Miho; Liu, Fengyi [Fukui Institute for Fundamental Chemistry, Kyoto University, 34-4 Takano Nishihiraki-cho, Kyoto 606-8103 (Japan); Maeda, Satoshi [Department of Chemistry, Faculty of Science, Hokkaido University, Sapporo 060-0810 (Japan); Morokuma, Keiji, E-mail: morokuma@fukui.kyoto-u.ac.jp [Fukui Institute for Fundamental Chemistry, Kyoto University, 34-4 Takano Nishihiraki-cho, Kyoto 606-8103 (Japan); Cherry L. Emerson Center for Scientific Computation and Department of Chemistry, Emory University, Atlanta, Georgia 30322 (United States)

2014-10-21

We report reaction paths starting from N({sup 2}D) + H{sub 2}O for doublet spin states, D{sub 0} and D{sub 1}. The potential energy surfaces are explored in an automated fashion using the global reaction route mapping strategy. The critical points and reaction paths have been fully optimized at the complete active space second order perturbation theory level taking all valence electrons in the active space. In addition to direct dissociation pathways that would be dominant, three roaming processes, two roaming dissociation, and one roaming isomerization: (1) H{sub 2}ON → H–O(H)N → H–HON → NO({sup 2}Π) + H{sub 2}, (2) cis-HNOH → HNO–H → H–HNO → NO + H{sub 2}, (3) H{sub 2}NO → H–HNO → HNO–H → trans-HNOH, are confirmed on the D{sub 0} surface.

Degree distribution of shortest path trees and bias of network sampling algorithms

NARCIS (Netherlands)

Bhamidi, S.; Goodman, J.A.; Hofstad, van der R.W.; Komjáthy, J.

2013-01-01

In this article, we explicitly derive the limiting distribution of the degree distribution of the shortest path tree from a single source on various random network models with edge weights. We determine the power-law exponent of the degree distribution of this tree and compare it to the degree

Degree distribution of shortest path trees and bias of network sampling algorithms

NARCIS (Netherlands)

Bhamidi, S.; Goodman, J.A.; Hofstad, van der R.W.; Komjáthy, J.

2015-01-01

In this article, we explicitly derive the limiting degree distribution of the shortest path tree from a single source on various random network models with edge weights. We determine the asymptotics of the degree distribution for large degrees of this tree and compare it to the degree distribution

High-Speed Rail Train Timetabling Problem: A Time-Space Network Based Method with an Improved Branch-and-Price Algorithm

Directory of Open Access Journals (Sweden)

Bisheng He

2014-01-01

Full Text Available A time-space network based optimization method is designed for high-speed rail train timetabling problem to improve the service level of the high-speed rail. The general time-space path cost is presented which considers both the train travel time and the high-speed rail operation requirements: (1 service frequency requirement; (2 stopping plan adjustment; and (3 priority of train types. Train timetabling problem based on time-space path aims to minimize the total general time-space path cost of all trains. An improved branch-and-price algorithm is applied to solve the large scale integer programming problem. When dealing with the algorithm, a rapid branching and node selection for branch-and-price tree and a heuristic train time-space path generation for column generation are adopted to speed up the algorithm computation time. The computational results of a set of experiments on China’s high-speed rail system are presented with the discussions about the model validation, the effectiveness of the general time-space path cost, and the improved branch-and-price algorithm.

On algorithm for building of optimal α-decision trees

KAUST Repository

Alkhalid, Abdulaziz

2010-01-01

The paper describes an algorithm that constructs approximate decision trees (α-decision trees), which are optimal relatively to one of the following complexity measures: depth, total path length or number of nodes. The algorithm uses dynamic programming and extends methods described in [4] to constructing approximate decision trees. Adjustable approximation rate allows controlling algorithm complexity. The algorithm is applied to build optimal α-decision trees for two data sets from UCI Machine Learning Repository [1]. © 2010 Springer-Verlag Berlin Heidelberg.

Improving the resolution for Lamb wave testing via a smoothed Capon algorithm

Science.gov (United States)

Cao, Xuwei; Zeng, Liang; Lin, Jing; Hua, Jiadong

2018-04-01

Lamb wave testing is promising for damage detection and evaluation in large-area structures. The dispersion of Lamb waves is often unavoidable, restricting testing resolution and making the signal hard to interpret. A smoothed Capon algorithm is proposed in this paper to estimate the accurate path length of each wave packet. In the algorithm, frequency domain whitening is firstly used to obtain the transfer function in the bandwidth of the excitation pulse. Subsequently, wavenumber domain smoothing is employed to reduce the correlation between wave packets. Finally, the path lengths are determined by distance domain searching based on the Capon algorithm. Simulations are applied to optimize the number of smoothing times. Experiments are performed on an aluminum plate consisting of two simulated defects. The results demonstrate that spatial resolution is improved significantly by the proposed algorithm.

Entropic sampling in the path integral Monte Carlo method

International Nuclear Information System (INIS)

Vorontsov-Velyaminov, P N; Lyubartsev, A P

2003-01-01

We have extended the entropic sampling Monte Carlo method to the case of path integral representation of a quantum system. A two-dimensional density of states is introduced into path integral form of the quantum canonical partition function. Entropic sampling technique within the algorithm suggested recently by Wang and Landau (Wang F and Landau D P 2001 Phys. Rev. Lett. 86 2050) is then applied to calculate the corresponding entropy distribution. A three-dimensional quantum oscillator is considered as an example. Canonical distributions for a wide range of temperatures are obtained in a single simulation run, and exact data for the energy are reproduced

Efficient Geo-Computational Algorithms for Constructing Space-Time Prisms in Road Networks

Directory of Open Access Journals (Sweden)

Hui-Ping Chen

2016-11-01

Full Text Available The Space-time prism (STP is a key concept in time geography for analyzing human activity-travel behavior under various Space-time constraints. Most existing time-geographic studies use a straightforward algorithm to construct STPs in road networks by using two one-to-all shortest path searches. However, this straightforward algorithm can introduce considerable computational overhead, given the fact that accessible links in a STP are generally a small portion of the whole network. To address this issue, an efficient geo-computational algorithm, called NTP-A*, is proposed. The proposed NTP-A* algorithm employs the A* and branch-and-bound techniques to discard inaccessible links during two shortest path searches, and thereby improves the STP construction performance. Comprehensive computational experiments are carried out to demonstrate the computational advantage of the proposed algorithm. Several implementation techniques, including the label-correcting technique and the hybrid link-node labeling technique, are discussed and analyzed. Experimental results show that the proposed NTP-A* algorithm can significantly improve STP construction performance in large-scale road networks by a factor of 100, compared with existing algorithms.

Tracing Technological Development Trajectories: A Genetic Knowledge Persistence-Based Main Path Approach.

Directory of Open Access Journals (Sweden)

Hyunseok Park

Full Text Available The aim of this paper is to propose a new method to identify main paths in a technological domain using patent citations. Previous approaches for using main path analysis have greatly improved our understanding of actual technological trajectories but nonetheless have some limitations. They have high potential to miss some dominant patents from the identified main paths; nonetheless, the high network complexity of their main paths makes qualitative tracing of trajectories problematic. The proposed method searches backward and forward paths from the high-persistence patents which are identified based on a standard genetic knowledge persistence algorithm. We tested the new method by applying it to the desalination and the solar photovoltaic domains and compared the results to output from the same domains using a prior method. The empirical results show that the proposed method can dramatically reduce network complexity without missing any dominantly important patents. The main paths identified by our approach for two test cases are almost 10x less complex than the main paths identified by the existing approach. The proposed approach identifies all dominantly important patents on the main paths, but the main paths identified by the existing approach miss about 20% of dominantly important patents.

Comparison of Path Length and Ranges of Movement of the Center of Pressure and Reaction Time and Between Paired-Play and Solo-Play of a Virtual Reality Game.

Science.gov (United States)

Portnoy, Sigal; Hersch, Ayelet; Sofer, Tal; Tresser, Sarit

2017-06-01

To test whether paired-play will induce longer path length and ranges of movement of the center of pressure (COP), which reflects on balance performance and stability, compared to solo-play and to test the difference in the path length and ranges of movement of the COP while playing the virtual reality (VR) game with the dominant hand compared to playing it with the nondominant hand. In this cross-sectional study 20 children (age 6.1 ± 0.7 years old) played an arm movement controlled VR game alone and with a peer while each of them stood on a pressure measuring pad to track the path length and ranges of movement of the COP. The total COP path was significantly higher during the paired-play (median 295.8 cm) compared to the COP path during the solo-play (median 189.2 cm). No significant differences were found in the reaction time and the mediolateral and anterior-posterior COP ranges between solo-play and paired-play. No significant differences were found between the parameters extracted during paired-play with the dominant or nondominant hand. Our findings imply that the paired-play is advantageous compared to solo-play since it induces a greater movement for the child, during which, higher COP velocities are reached that may contribute to improving the balance control of the child. Apart from the positive social benefits of paired-play, this positive effect on the COP path length is a noteworthy added value in the clinical setting when treating children with balance disorder.

Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

Science.gov (United States)

Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran

2018-01-01

Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of

Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning

Directory of Open Access Journals (Sweden)

Lan Anh Trinh

2018-06-01

Full Text Available Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta* algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta* algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The

Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function

Directory of Open Access Journals (Sweden)

Yong Ma

2013-01-01

Full Text Available We present one algorithm based on particle swarm optimization (PSO with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions with obstacles. The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements. This problem is formulated as a calculus of variation problem (CVP. With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP. Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions. Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained. Approach efficiency is confirmed by numerical examples.

Design of Smooth Ramp Feedrate for Machining Complex NURBS Paths

Science.gov (United States)

Sekar, M.; Suresha, B.; Kantharaj, I.

2017-10-01

The feedrate scheduling algorithms proposed in this work permit the complex NURBS tool paths to be traversed quickly in those areas not limited by dynamic constraints, but slowdown in critical areas just enough to keep the machine within its dynamic limits and the specified tolerance zone. Due to the typically improved path tracking performance, surface finish can improve greatly, reducing the need for secondary finishing operations such as polishing. This work implements the Acceleration Deceleration Before Interpolation (ADBI) approach which is desired in modern CNC controller design and high speed machining of complex micro profiles common in Aerospace applications.

Capacity Constrained Routing Algorithms for Evacuation Route Planning

National Research Council Canada - National Science Library

Lu, Qingsong; George, Betsy; Shekhar, Shashi

2006-01-01

.... In this paper, we propose a new approach, namely a capacity constrained routing planner which models capacity as a time series and generalizes shortest path algorithms to incorporate capacity constraints...

Heuristic methods for single link shared backup path protection

DEFF Research Database (Denmark)

Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin

2014-01-01

schemes are employed. In contrast to manual intervention, automatic protection schemes such as shared backup path protection (SBPP) can recover from failure quickly and efficiently. SBPP is a simple but efficient protection scheme that can be implemented in backbone networks with technology available...... heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5 % was achieved for 5 of 7 benchmark instances (and a gap of less than 11 % for the remaining...

Capability of LEP-type surfaces to describe noncollinear reactions 2 - Polyatomic systems

CERN Document Server

Espinosa-Garcia, Joaquin

2001-01-01

In this second article of the series, the popular LEP-type surface for collinear reaction paths and a "bent" surface, which involves a saddle point geometry with a nonlinear central angle, were used to examine the capacity of LEP-type surfaces to describe the kinetics and dynamics of noncollinear reaction paths in polyatomic systems. Analyzing the geometries, vibrational frequencies, curvature along the reaction path (to estimate the tunneling effect and the reaction coordinate-bound modes coupling), and the variational transition- state theory thermal rate constants for the NH//3 + O(**3P) reaction, we found that the "collinear" LEP-type and the "bent" surfaces for this polyatomic system show similar behavior, thus allowing a considerable saving in time and computational effort. This agreement is especially encouraging for this polyatomic system because in the Cs symmetry the reaction proceeds via two electronic states of symmetries **3A prime and **3A double prime , which had to be independently calibrated....

Sequential Optimization of Paths in Directed Graphs Relative to Different Cost Functions

KAUST Repository

Mahayni, Malek A.

2011-07-01

Finding optimal paths in directed graphs is a wide area of research that has received much of attention in theoretical computer science due to its importance in many applications (e.g., computer networks and road maps). Many algorithms have been developed to solve the optimal paths problem with different kinds of graphs. An algorithm that solves the problem of paths’ optimization in directed graphs relative to different cost functions is described in [1]. It follows an approach extended from the dynamic programming approach as it solves the problem sequentially and works on directed graphs with positive weights and no loop edges. The aim of this thesis is to implement and evaluate that algorithm to find the optimal paths in directed graphs relative to two different cost functions ( , ). A possible interpretation of a directed graph is a network of roads so the weights for the function represent the length of roads, whereas the weights for the function represent a constraint of the width or weight of a vehicle. The optimization aim for those two functions is to minimize the cost relative to the function and maximize the constraint value associated with the function. This thesis also includes finding and proving the relation between the two different cost functions ( , ). When given a value of one function, we can find the best possible value for the other function. This relation is proven theoretically and also implemented and experimented using Matlab®[2].

Multiphoton control of the 1,3-cyclohexadiene ring-opening reaction in the presence of competing solvent reactions.

Science.gov (United States)

Carroll, Elizabeth C; White, James L; Florean, Andrei C; Bucksbaum, Philip H; Sension, Roseanne J

2008-07-31

Although physical chemistry has often concentrated on the observation and understanding of chemical systems, the defining characteristic of chemistry remains the direction and control of chemical reactivity. Optical control of molecular dynamics, and thus of chemical reactivity provides a path to use photon energy as a smart reagent in a chemical system. In this paper, we discuss recent research in this field in the context of our studies of the multiphoton optical control of the photo-initiated ring-opening reaction of 1,3-cyclohexadiene (CHD) to form 1,3,5- cis-hexatriene (Z-HT). Closed-loop feedback and learning algorithms are able to identify pulses that increase the desired target state by as much as a factor of two. Mechanisms for control are discussed through the influence of the intensity dependence, the nonlinear power spectrum, and the projection of the pulses onto low orders of polynomial phase. Control measurements in neat solvents demonstrate that competing solvent fragmentation reactions must also be considered. In particular, multiphoton excitation of cyclohexane alone is capable of producing hexatriene. Statistical analyses of data sets obtained in learning algorithm searches in neat cyclohexane and for CHD in hexane and cyclohexane highlight the importance of linear and quadratic chirp, while demonstrating that the control features are not so easily defined. Higher order phase components are also important. On the basis of these results the involvement of low-frequency ground-state vibrational modes is proposed. When the population is transferred to the excited state, momentum along the torsional coordinate may keep the wave packet localized as it moves toward the conical intersections controlling the yield of Z-HT.

An improved hierarchical A * algorithm in the optimization of parking lots

Science.gov (United States)

Wang, Yong; Wu, Junjuan; Wang, Ying

2017-08-01

In the parking lot parking path optimization, the traditional evaluation index is the shortest distance as the best index and it does not consider the actual road conditions. Now, the introduction of a more practical evaluation index can not only simplify the hardware design of the boot system but also save the software overhead. Firstly, we establish the parking lot network graph RPCDV mathematical model and all nodes in the network is divided into two layers which were constructed using different evaluation function base on the improved hierarchical A * algorithm which improves the time optimal path search efficiency and search precision of the evaluation index. The final results show that for different sections of the program attribute parameter algorithm always faster the time to find the optimal path.

Globally Optimal Path Planning with Anisotropic Running Costs

Science.gov (United States)

2013-03-01

Eikonal equation and has numerous applications, for exam- ple, in path planning, computational geometry, computer vision, and image enhancement...Sethian 1999b]. Numerical methods for solving the Eikonal equation include Tsitsiklis’ control-theoretic algorithm [Tsitsiklis 1995], Fast Marching Methods...methods for Eikonal equations on triangular meshes, SIAM J. Numer. Anal. 45(1), 83—107. Rowe, M. P., Sidhu, H. S. & Mercer, G. N. (2009) Military

Combining water-rock interaction experiments with reaction path and reactive transport modelling to predict reservoir rock evolution in an enhanced geothermal system

Science.gov (United States)

Kuesters, Tim; Mueller, Thomas; Renner, Joerg

2016-04-01

Reliably predicting the evolution of mechanical and chemical properties of reservoir rocks is crucial for efficient exploitation of enhanced geothermal systems (EGS). For example, dissolution and precipitation of individual rock forming minerals often result in significant volume changes, affecting the hydraulic rock properties and chemical composition of fluid and solid phases. Reactive transport models are typically used to evaluate and predict the effect of the internal feedback of these processes. However, a quantitative evaluation of chemo-mechanical interaction in polycrystalline environments is elusive due to poorly constrained kinetic data of complex mineral reactions. In addition, experimentally derived reaction rates are generally faster than reaction rates determined from natural systems, likely a consequence of the experimental design: a) determining the rate of a single process only, e.g. the dissolution of a mineral, and b) using powdered sample materials and thus providing an unrealistically high reaction surface and at the same time eliminating the restrictions on element transport faced in-situ for fairly dense rocks. In reality, multiple reactions are coupled during the alteration of a polymineralic rocks in the presence of a fluid and the rate determining process of the overall reactions is often difficult to identify. We present results of bulk rock-water interaction experiments quantifying alteration reactions between pure water and a granodiorite sample. The rock sample was chosen for its homogenous texture, small and uniform grain size (˜0.5 mm in diameter), and absence of pre-existing alteration features. The primary minerals are plagioclase (plg - 58 vol.%), quartz (qtz - 21 vol.%), K-feldspar (Kfs - 17 vol.%), biotite (bio - 3 vol.%) and white mica (wm - 1 vol.%). Three sets of batch experiments were conducted at 200 ° C to evaluate the effect of reactive surface area and different fluid path ways using (I) powders of the bulk rock with

Constraint-Based Local Search for Constrained Optimum Paths Problems

Science.gov (United States)

Pham, Quang Dung; Deville, Yves; van Hentenryck, Pascal

Constrained Optimum Path (COP) problems arise in many real-life applications and are ubiquitous in communication networks. They have been traditionally approached by dedicated algorithms, which are often hard to extend with side constraints and to apply widely. This paper proposes a constraint-based local search (CBLS) framework for COP applications, bringing the compositionality, reuse, and extensibility at the core of CBLS and CP systems. The modeling contribution is the ability to express compositional models for various COP applications at a high level of abstraction, while cleanly separating the model and the search procedure. The main technical contribution is a connected neighborhood based on rooted spanning trees to find high-quality solutions to COP problems. The framework, implemented in COMET, is applied to Resource Constrained Shortest Path (RCSP) problems (with and without side constraints) and to the edge-disjoint paths problem (EDP). Computational results show the potential significance of the approach.

Minimum Time Path Planning for Robotic Manipulator in Drilling/ Spot Welding Tasks

Directory of Open Access Journals (Sweden)

Qiang Zhang

2016-04-01

Full Text Available In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

Reaction paths and equilibrium end-points in solid-solution aqueous-solution systems

Science.gov (United States)

Glynn, P.D.; Reardon, E.J.; Plummer, Niel; Busenberg, E.

1990-01-01

Equations are presented describing equilibrium in binary solid-solution aqueous-solution (SSAS) systems after a dissolution, precipitation, or recrystallization process, as a function of the composition and relative proportion of the initial phases. Equilibrium phase diagrams incorporating the concept of stoichiometric saturation are used to interpret possible reaction paths and to demonstrate relations between stoichiometric saturation, primary saturation, and thermodynamic equilibrium states. The concept of stoichiometric saturation is found useful in interpreting and putting limits on dissolution pathways, but there currently is no basis for possible application of this concept to the prediction and/ or understanding of precipitation processes. Previously published dissolution experiments for (Ba, Sr)SO4 and (Sr, Ca)C??O3orth. solids are interpreted using equilibrium phase diagrams. These studies show that stoichiometric saturation can control, or at least influence, initial congruent dissolution pathways. The results for (Sr, Ca)CO3orth. solids reveal that stoichiometric saturation can also control the initial stages of incongruent dissolution, despite the intrinsic instability of some of the initial solids. In contrast, recrystallisation experiments in the highly soluble KCl-KBr-H2O system demonstrate equilibrium. The excess free energy of mixing calculated for K(Cl, Br) solids is closely modeled by the relation GE = ??KBr??KClRT[a0 + a1(2??KBr-1)], where a0 is 1.40 ?? 0.02, a1, is -0.08 ?? 0.03 at 25??C, and ??KBr and ??KCl are the mole fractions of KBr and KCl in the solids. The phase diagram constructed using this fit reveals an alyotropic maximum located at ??KBr = 0.676 and at a total solubility product, ???? = [K+]([Cl-] + [Br-]) = 15.35. ?? 1990.

SurfCut: Surfaces of Minimal Paths From Topological Structures

KAUST Repository

Algarni, Marei Saeed Mohammed

2018-03-05

We present SurfCut, an algorithm for extracting a smooth, simple surface with an unknown 3D curve boundary from a noisy image and a seed point. Our method is built on the novel observation that certain ridge curves of a function defined on a front propagated using the Fast Marching algorithm lie on the surface. Our method extracts and cuts these ridges to form the surface boundary. Our surface extraction algorithm is built on the novel observation that the surface lies in a valley of the distance from Fast Marching. We show that the resulting surface is a collection of minimal paths. Using the framework of cubical complexes and Morse theory, we design algorithms to extract these critical structures robustly. Experiments on three 3D datasets show the robustness of our method, and that it achieves higher accuracy with lower computational cost than state-of-the-art.

SurfCut: Surfaces of Minimal Paths From Topological Structures

KAUST Repository

Algarni, Marei Saeed Mohammed

2017-04-30

We present SurfCut, an algorithm for extracting a smooth, simple surface with an unknown 3D curve boundary from a noisy 3D image and a seed point. Our method is built on the novel observation that certain ridge curves of a function defined on a front propagated using the Fast Marching algorithm lie on the surface. Our method extracts and cuts these ridges to form the surface boundary. Our surface extraction algorithm is built on the novel observation that the surface lies in a valley of the distance from Fast Marching. We show that the resulting surface is a collection of minimal paths. Using the framework of cubical complexes and Morse theory, we design algorithms to extract these critical structures robustly. Experiments on three 3D datasets show the robustness of our method, and that it achieves higher accuracy with lower computational cost than state-of-the-art.

SurfCut: Surfaces of Minimal Paths From Topological Structures

KAUST Repository

Algarni, Marei Saeed Mohammed; Sundaramoorthi, Ganesh

2018-01-01

We present SurfCut, an algorithm for extracting a smooth, simple surface with an unknown 3D curve boundary from a noisy image and a seed point. Our method is built on the novel observation that certain ridge curves of a function defined on a front propagated using the Fast Marching algorithm lie on the surface. Our method extracts and cuts these ridges to form the surface boundary. Our surface extraction algorithm is built on the novel observation that the surface lies in a valley of the distance from Fast Marching. We show that the resulting surface is a collection of minimal paths. Using the framework of cubical complexes and Morse theory, we design algorithms to extract these critical structures robustly. Experiments on three 3D datasets show the robustness of our method, and that it achieves higher accuracy with lower computational cost than state-of-the-art.

Solidification paths of multicomponent monotectic aluminum alloys

Energy Technology Data Exchange (ETDEWEB)

Mirkovic, Djordje; Groebner, Joachim [Clausthal University of Technology, Institute of Metallurgy, Robert-Koch-Street 42, D-38678 Clausthal-Zellerfeld (Germany); Schmid-Fetzer, Rainer [Clausthal University of Technology, Institute of Metallurgy, Robert-Koch-Street 42, D-38678 Clausthal-Zellerfeld (Germany)], E-mail: schmid-fetzer@tu-clausthal.de

2008-10-15

Solidification paths of three ternary monotectic alloy systems, Al-Bi-Zn, Al-Sn-Cu and Al-Bi-Cu, are studied using thermodynamic calculations, both for the pertinent phase diagrams and also for specific details concerning the solidification of selected alloy compositions. The coupled composition variation in two different liquids is quantitatively given. Various ternary monotectic four-phase reactions are encountered during solidification, as opposed to the simple binary monotectic, L' {yields} L'' + solid. These intricacies are reflected in the solidification microstructures, as demonstrated for these three aluminum alloy systems, selected in view of their distinctive features. This examination of solidification paths and microstructure formation may be relevant for advanced solidification processing of multicomponent monotectic alloys.

Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions

Science.gov (United States)

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.

Solution path for manifold regularized semisupervised classification.

Science.gov (United States)

Wang, Gang; Wang, Fei; Chen, Tao; Yeung, Dit-Yan; Lochovsky, Frederick H

2012-04-01

Traditional learning algorithms use only labeled data for training. However, labeled examples are often difficult or time consuming to obtain since they require substantial human labeling efforts. On the other hand, unlabeled data are often relatively easy to collect. Semisupervised learning addresses this problem by using large quantities of unlabeled data with labeled data to build better learning algorithms. In this paper, we use the manifold regularization approach to formulate the semisupervised learning problem where a regularization framework which balances a tradeoff between loss and penalty is established. We investigate different implementations of the loss function and identify the methods which have the least computational expense. The regularization hyperparameter, which determines the balance between loss and penalty, is crucial to model selection. Accordingly, we derive an algorithm that can fit the entire path of solutions for every value of the hyperparameter. Its computational complexity after preprocessing is quadratic only in the number of labeled examples rather than the total number of labeled and unlabeled examples.

The Shortest Path Problems in Battery-Electric Vehicle Dispatching with Battery Renewal

Directory of Open Access Journals (Sweden)

Minfang Huang

2016-06-01

Full Text Available Electric vehicles play a key role for developing an eco-sustainable transport system. One critical component of an electric vehicle is its battery, which can be quickly charged or exchanged before it runs out. The problem of electric vehicle dispatching falls into the category of the shortest path problem with resource renewal. In this paper, we study the shortest path problems in (1 electric transit bus scheduling and (2 electric truck routing with time windows. In these applications, a fully-charged battery allows running a limited operational distance, and the battery before depletion needs to be quickly charged or exchanged with a fully-charged one at a battery management facility. The limited distance and battery renewal result in a shortest path problem with resource renewal. We develop a label-correcting algorithm with state space relaxation to find optimal solutions. In the computational experiments, real-world road geometry data are used to generate realistic travel distances, and other types of data are obtained from the real world or randomly generated. The computational results show that the label-correcting algorithm performs very well.

Path coupling and aggregate path coupling

CERN Document Server

Kovchegov, Yevgeniy

2018-01-01

This book describes and characterizes an extension to the classical path coupling method applied to statistical mechanical models, referred to as aggregate path coupling. In conjunction with large deviations estimates, the aggregate path coupling method is used to prove rapid mixing of Glauber dynamics for a large class of statistical mechanical models, including models that exhibit discontinuous phase transitions which have traditionally been more difficult to analyze rigorously. The book shows how the parameter regions for rapid mixing for several classes of statistical mechanical models are derived using the aggregate path coupling method.

Sequential Optimization of Paths in Directed Graphs Relative to Different Cost Functions

KAUST Repository

Mahayni, Malek A.

2011-01-01

developed to solve the optimal paths problem with different kinds of graphs. An algorithm that solves the problem of paths’ optimization in directed graphs relative to different cost functions is described in [1]. It follows an approach extended from

Path-Wise Test Data Generation Based on Heuristic Look-Ahead Methods

Directory of Open Access Journals (Sweden)

Ying Xing

2014-01-01

Full Text Available Path-wise test data generation is generally considered an important problem in the automation of software testing. In essence, it is a constraint optimization problem, which is often solved by search methods such as backtracking algorithms. In this paper, the backtracking algorithm branch and bound and state space search in artificial intelligence are introduced to tackle the problem of path-wise test data generation. The former is utilized to explore the space of potential solutions and the latter is adopted to construct the search tree dynamically. Heuristics are employed in the look-ahead stage of the search. Dynamic variable ordering is presented with a heuristic rule to break ties, values of a variable are determined by the monotonicity analysis on branching conditions, and maintaining path consistency is achieved through analysis on the result of interval arithmetic. An optimization method is also proposed to reduce the search space. The results of empirical experiments show that the search is conducted in a basically backtrack-free manner, which ensures both test data generation with promising performance and its excellence over some currently existing static and dynamic methods in terms of coverage. The results also demonstrate that the proposed method is applicable in engineering.

Power efficient and high performance VLSI architecture for AES algorithm

Directory of Open Access Journals (Sweden)

K. Kalaiselvi

2015-09-01

Full Text Available Advanced encryption standard (AES algorithm has been widely deployed in cryptographic applications. This work proposes a low power and high throughput implementation of AES algorithm using key expansion approach. We minimize the power consumption and critical path delay using the proposed high performance architecture. It supports both encryption and decryption using 256-bit keys with a throughput of 0.06 Gbps. The VHDL language is utilized for simulating the design and an FPGA chip has been used for the hardware implementations. Experimental results reveal that the proposed AES architectures offer superior performance than the existing VLSI architectures in terms of power, throughput and critical path delay.

Path Creation, Path Dependence and Breaking Away from the Path

OpenAIRE

Wang, Jens; Hedman, Jonas; Tuunainen, Virpi Kristiina

2016-01-01

The explanation of how and why firms succeed or fail is a recurrent research challenge. This is particularly important in the context of technological innovations. We focus on the role of historical events and decisions in explaining such success and failure. Using a case study of Nokia, we develop and extend a multi-layer path dependence framework. We identify four layers of path dependence: technical, strategic and leadership, organizational, and external collaboration. We show how path dep...

11th International Workshop on the Algorithmic Foundations of Robotics

CERN Document Server

Amato, Nancy; Isler, Volkan; Stappen, A

2015-01-01

This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g.  manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning.  This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.  

Quickly Planning TF/TA2 Trajectory by Artificial Immune Algorithm

Directory of Open Access Journals (Sweden)

LIU Lifeng

2015-04-01

Full Text Available Flight path planning by artificial immune algorithm approach met the requirements of aircraft's flyability and operation is proposed for the problem of single and double TF/TA2 flight path planning. Punishment function (affinity function with comprehensive 3D threat information is designed. A comprehensive threat model is formed including dynamic and static threats and no-fly-zone. Accordingly, single and dual flight paths are planned by AIA, which have been compared with the paths by GA. The results show that, GA's planned a quick and longer path compared under simple threat environment; in complex environments, GA has high failure rate (greater than 95% for single aircraft, but it is failed for double aircrafts. For the single and double aircrafts, AIA can provides one optimal and more candidate optimal flight paths.

Shortest multiple disconnected path for the analysis of entanglements in two- and three-dimensional polymeric systems

Science.gov (United States)

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

Reaction chemistry in rechargeable Li-O2 batteries.

Science.gov (United States)

Lim, Hee-Dae; Lee, Byungju; Bae, Youngjoon; Park, Hyeokjun; Ko, Youngmin; Kim, Haegyeom; Kim, Jinsoo; Kang, Kisuk

2017-05-22

The seemingly simple reaction of Li-O 2 batteries involving lithium and oxygen makes this chemistry attractive for high-energy-density storage systems; however, achieving this reaction in practical rechargeable Li-O 2 batteries has proven difficult. The reaction paths leading to the final Li 2 O 2 discharge products can be greatly affected by the operating conditions or environment, which often results in major side reactions. Recent research findings have begun to reveal how the reaction paths may be affected by the surrounding conditions and to uncover the factors contributing to the difficulty in achieving the reactions of lithium and oxygen. This progress report describes the current state of understanding of the electrode reaction mechanisms in Li-O 2 batteries; the factors that affect reaction pathways; and the effect of cell components such as solvents, salts, additives, and catalysts on the discharge product and its decomposition during charging. This comprehensive review of the recent progress in understanding the reaction chemistry of the Li-O 2 system will serve as guidelines for future research and aid in the development of reliable high-energy-density rechargeable Li-O 2 batteries.

Algorithms for detecting and analysing autocatalytic sets.

Science.gov (United States)

Hordijk, Wim; Smith, Joshua I; Steel, Mike

2015-01-01

Autocatalytic sets are considered to be fundamental to the origin of life. Prior theoretical and computational work on the existence and properties of these sets has relied on a fast algorithm for detectingself-sustaining autocatalytic sets in chemical reaction systems. Here, we introduce and apply a modified version and several extensions of the basic algorithm: (i) a modification aimed at reducing the number of calls to the computationally most expensive part of the algorithm, (ii) the application of a previously introduced extension of the basic algorithm to sample the smallest possible autocatalytic sets within a reaction network, and the application of a statistical test which provides a probable lower bound on the number of such smallest sets, (iii) the introduction and application of another extension of the basic algorithm to detect autocatalytic sets in a reaction system where molecules can also inhibit (as well as catalyse) reactions, (iv) a further, more abstract, extension of the theory behind searching for autocatalytic sets. (i) The modified algorithm outperforms the original one in the number of calls to the computationally most expensive procedure, which, in some cases also leads to a significant improvement in overall running time, (ii) our statistical test provides strong support for the existence of very large numbers (even millions) of minimal autocatalytic sets in a well-studied polymer model, where these minimal sets share about half of their reactions on average, (iii) "uninhibited" autocatalytic sets can be found in reaction systems that allow inhibition, but their number and sizes depend on the level of inhibition relative to the level of catalysis. (i) Improvements in the overall running time when searching for autocatalytic sets can potentially be obtained by using a modified version of the algorithm, (ii) the existence of large numbers of minimal autocatalytic sets can have important consequences for the possible evolvability of

Parallel replica dynamics method for bistable stochastic reaction networks: Simulation and sensitivity analysis

Science.gov (United States)

Wang, Ting; Plecháč, Petr

2017-12-01

Stochastic reaction networks that exhibit bistable behavior are common in systems biology, materials science, and catalysis. Sampling of stationary distributions is crucial for understanding and characterizing the long-time dynamics of bistable stochastic dynamical systems. However, simulations are often hindered by the insufficient sampling of rare transitions between the two metastable regions. In this paper, we apply the parallel replica method for a continuous time Markov chain in order to improve sampling of the stationary distribution in bistable stochastic reaction networks. The proposed method uses parallel computing to accelerate the sampling of rare transitions. Furthermore, it can be combined with the path-space information bounds for parametric sensitivity analysis. With the proposed methodology, we study three bistable biological networks: the Schlögl model, the genetic switch network, and the enzymatic futile cycle network. We demonstrate the algorithmic speedup achieved in these numerical benchmarks. More significant acceleration is expected when multi-core or graphics processing unit computer architectures and programming tools such as CUDA are employed.

Parallel replica dynamics method for bistable stochastic reaction networks: Simulation and sensitivity analysis.

Science.gov (United States)

Wang, Ting; Plecháč, Petr

2017-12-21

Stochastic reaction networks that exhibit bistable behavior are common in systems biology, materials science, and catalysis. Sampling of stationary distributions is crucial for understanding and characterizing the long-time dynamics of bistable stochastic dynamical systems. However, simulations are often hindered by the insufficient sampling of rare transitions between the two metastable regions. In this paper, we apply the parallel replica method for a continuous time Markov chain in order to improve sampling of the stationary distribution in bistable stochastic reaction networks. The proposed method uses parallel computing to accelerate the sampling of rare transitions. Furthermore, it can be combined with the path-space information bounds for parametric sensitivity analysis. With the proposed methodology, we study three bistable biological networks: the Schlögl model, the genetic switch network, and the enzymatic futile cycle network. We demonstrate the algorithmic speedup achieved in these numerical benchmarks. More significant acceleration is expected when multi-core or graphics processing unit computer architectures and programming tools such as CUDA are employed.

Alchemical derivatives of reaction energetics

Science.gov (United States)

Sheppard, Daniel; Henkelman, Graeme; von Lilienfeld, O. Anatole

2010-08-01

Based on molecular grand canonical ensemble density functional theory, we present a theoretical description of how reaction barriers and enthalpies change as atoms in the system are subjected to alchemical transformations, from one element into another. The change in the energy barrier for the umbrella inversion of ammonia is calculated along an alchemical path in which the molecule is transformed into water, and the change in the enthalpy of protonation for methane is calculated as the molecule is transformed into a neon atom via ammonia, water, and hydrogen fluoride. Alchemical derivatives are calculated analytically from the electrostatic potential in the unperturbed system, and compared to numerical derivatives calculated with finite difference interpolation of the pseudopotentials for the atoms being transformed. Good agreement is found between the analytical and numerical derivatives. Alchemical derivatives are also shown to be predictive for integer changes in atomic numbers for oxygen binding to a 79 atom palladium nanoparticle, illustrating their potential use in gradient-based optimization algorithms for the rational design of catalysts.

A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems

KAUST Repository

Abdelkader, Mohamed; Jaleel, Hassan; Shamma, Jeff S.

2017-01-01

We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which

Configurbanist : Urban Configuration Analysis for Walking and Cycling via Easiest Paths

NARCIS (Netherlands)

Nourian Ghadikolaee, P.; Rezvani, S.; Sariyildiz, I.S.; Van der Hoeven, F.D.

In a quest for promoting sustainable modes of mobility, we have revisited how feasible and suitable is it for people to walk or cycle to their destinations in a neighbourhood. We propose a few accessibility measures based on an 'Easiest Path' algorithm that provides also actual temporal distance

Analysis of an Automated Vehicle Routing Problem in Logistics considering Path Interruption

Directory of Open Access Journals (Sweden)

Yong Zhang

2017-01-01

Full Text Available The application of automated vehicles in logistics can efficiently reduce the cost of logistics and reduce the potential risks in the last mile. Considering the path restriction in the initial stage of the application of automated vehicles in logistics, the conventional model for a vehicle routing problem (VRP is modified. Thus, the automated vehicle routing problem with time windows (AVRPTW model considering path interruption is established. Additionally, an improved particle swarm optimisation (PSO algorithm is designed to solve this problem. Finally, a case study is undertaken to test the validity of the model and the algorithm. Four automated vehicles are designated to execute all delivery tasks required by 25 stores. Capacities of all of the automated vehicles are almost fully utilised. It is of considerable significance for the promotion of automated vehicles in last-mile situations to develop such research into real problems arising in the initial period.

Path selection and bandwidth allocation in MPLS networks: a nonlinear programming approach

Science.gov (United States)

Burns, J. E.; Ott, Teunis J.; de Kock, Johan M.; Krzesinski, Anthony E.

2001-07-01

Multi-protocol Label Switching extends the IPv4 destination-based routing protocols to provide new and scalable routing capabilities in connectionless networks using relatively simple packet forwarding mechanisms. MPLS networks carry traffic on virtual connections called label switched paths. This paper considers path selection and bandwidth allocation in MPLS networks in order to optimize the network quality of service. The optimization is based upon the minimization of a non-linear objective function which under light load simplifies to OSPF routing with link metrics equal to the link propagation delays. The behavior under heavy load depends on the choice of certain parameters: It can essentially be made to minimize maximal expected utilization, or to maximize minimal expected weighted slacks (both over all links). Under certain circumstances it can be made to minimize the probability that a link has an instantaneous offered load larger than its transmission capacity. We present a model of an MPLS network and an algorithm to find and capacitate optimal LSPs. The algorithm is an improvement of the well-known flow deviation non-linear programming method. The algorithm is applied to compute optimal LSPs for several test networks carrying a single traffic class.

A Priori Implementation Effort Estimation for HW Design Based on Independent-Path Analysis

DEFF Research Database (Denmark)

Abildgren, Rasmus; Diguet, Jean-Philippe; Bomel, Pierre

2008-01-01

that with the proposed approach it is possible to estimate the hardware implementation effort. This approach, part of our light design space exploration concept, is implemented in our framework ‘‘Design-Trotter'' and offers a new type of tool that can help designers and managers to reduce the time-to-market factor......This paper presents a metric-based approach for estimating the hardware implementation effort (in terms of time) for an application in relation to the number of linear-independent paths of its algorithms. We exploit the relation between the number of edges and linear-independent paths...... in an algorithm and the corresponding implementation effort. We propose an adaptation of the concept of cyclomatic complexity, complemented with a correction function to take designers' learning curve and experience into account. Our experimental results, composed of a training and a validation phase, show...

Drift-Implicit Multi-Level Monte Carlo Tau-Leap Methods for Stochastic Reaction Networks

KAUST Repository

Ben Hammouda, Chiheb

2015-05-12

In biochemical systems, stochastic e↵ects can be caused by the presence of small numbers of certain reactant molecules. In this setting, discrete state-space and stochastic simulation approaches were proved to be more relevant than continuous state-space and deterministic ones. These stochastic models constitute the theory of stochastic reaction networks (SRNs). Furthermore, in some cases, the dynamics of fast and slow time scales can be well separated and this is characterized by what is called sti↵ness. For such problems, the existing discrete space-state stochastic path simulation methods, such as the stochastic simulation algorithm (SSA) and the explicit tau-leap method, can be very slow. Therefore, implicit tau-leap approxima- tions were developed to improve the numerical stability and provide more e cient simulation algorithms for these systems. One of the interesting tasks for SRNs is to approximate the expected values of some observables of the process at a certain fixed time T. This is can be achieved using Monte Carlo (MC) techniques. However, in a recent work, Anderson and Higham in 2013, proposed a more computationally e cient method which combines multi-level Monte Carlo (MLMC) technique with explicit tau-leap schemes. In this MSc thesis, we propose new fast stochastic algorithm, particularly designed 5 to address sti↵ systems, for approximating the expected values of some observables of SRNs. In fact, we take advantage of the idea of MLMC techniques and drift-implicit tau-leap approximation to construct a drift-implicit MLMC tau-leap estimator. In addition to accurately estimating the expected values of a given observable of SRNs at a final time T , our proposed estimator ensures the numerical stability with a lower cost than the MLMC explicit tau-leap algorithm, for systems including simultane- ously fast and slow species. The key contribution of our work is the coupling of two drift-implicit tau-leap paths, which is the basic brick for

A path-following driver/vehicle model with optimized lateral dynamic controller

Directory of Open Access Journals (Sweden)

Behrooz Mashadi

Full Text Available Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.

Fuzzy path tracking and position estimation of autonomous vehicles using differential GPS

OpenAIRE

Rodríguez Castaño, Ángel; Heredia Benot, José Guillermo; Ollero Baturone, Aníbal

2000-01-01

This paper presents an autonomous vehicle position estimation system based on GPS, that uses a fuzzy sensor fusion technique. A fuzzy path tracking algorithm is also proposed. Both systems have been implemented in the ROMEO-4R vehicle developed at the University of Seville.

Virtual Fiber Networking and Impact of Optical Path Grooming on Creating Efficient Layer One Services

Science.gov (United States)

Naruse, Fumisato; Yamada, Yoshiyuki; Hasegawa, Hiroshi; Sato, Ken-Ichi

This paper presents a novel “virtual fiber” network service that exploits wavebands. This service provides virtual direct tunnels that directly convey wavelength paths to connect customer facilities. To improve the resource utilization efficiency of the service, a network design algorithm is developed that can allow intermediate path grooming at limited nodes and can determine the best node location. Numerical experiments demonstrate the effectiveness of the proposed service architecture.

Differences between Drug-Induced and Contrast Media-Induced Adverse Reactions Based on Spontaneously Reported Adverse Drug Reactions.

Science.gov (United States)

Ryu, JiHyeon; Lee, HeeYoung; Suh, JinUk; Yang, MyungSuk; Kang, WonKu; Kim, EunYoung

2015-01-01

We analyzed differences between spontaneously reported drug-induced (not including contrast media) and contrast media-induced adverse reactions. Adverse drug reactions reported by an in-hospital pharmacovigilance center (St. Mary's teaching hospital, Daejeon, Korea) from 2010-2012 were classified as drug-induced or contrast media-induced. Clinical patterns, frequency, causality, severity, Schumock and Thornton's preventability, and type A/B reactions were recorded. The trends among causality tools measuring drug and contrast-induced adverse reactions were analyzed. Of 1,335 reports, 636 drug-induced and contrast media-induced adverse reactions were identified. The prevalence of spontaneously reported adverse drug reaction-related admissions revealed a suspected adverse drug reaction-reporting rate of 20.9/100,000 (inpatient, 0.021%) and 3.9/100,000 (outpatients, 0.004%). The most common adverse drug reaction-associated drug classes included nervous system agents and anti-infectives. Dermatological and gastrointestinal adverse drug reactions were most frequently and similarly reported between drug and contrast media-induced adverse reactions. Compared to contrast media-induced adverse reactions, drug-induced adverse reactions were milder, more likely to be preventable (9.8% vs. 1.1%, p contrast media-induced adverse reactions (56.6%, p = 0.066). Causality patterns differed between the two adverse reaction classes. The World Health Organization-Uppsala Monitoring Centre causality evaluation and Naranjo algorithm results significantly differed from those of the Korean algorithm version II (p contrast media-induced adverse reactions. The World Health Organization-Uppsala Monitoring Centre and Naranjo algorithm causality evaluation afforded similar results.

Non-binary decomposition trees - a method of reliability computation for systems with known minimal paths/cuts

International Nuclear Information System (INIS)

Malinowski, Jacek

2004-01-01

A coherent system with independent components and known minimal paths (cuts) is considered. In order to compute its reliability, a tree structure T is constructed whose nodes contain the modified minimal paths (cuts) and numerical values. The value of a non-leaf node is a function of its child nodes' values. The values of leaf nodes are calculated from a simple formula. The value of the root node is the system's failure probability (reliability). Subsequently, an algorithm computing the system's failure probability (reliability) is constructed. The algorithm scans all nodes of T using a stack structure for this purpose. The nodes of T are alternately put on and removed from the stack, their data being modified in the process. Once the algorithm has terminated, the stack contains only the final modification of the root node of T, and its value is equal to the system's failure probability (reliability)

A Markov chain Monte Carlo Expectation Maximization Algorithm for Statistical Analysis of DNA Sequence Evolution with Neighbor-Dependent Substitution Rates

DEFF Research Database (Denmark)

Hobolth, Asger

2008-01-01

-dimensional integrals required in the EM algorithm are estimated using MCMC sampling. The MCMC sampler requires simulation of sample paths from a continuous time Markov process, conditional on the beginning and ending states and the paths of the neighboring sites. An exact path sampling algorithm is developed......The evolution of DNA sequences can be described by discrete state continuous time Markov processes on a phylogenetic tree. We consider neighbor-dependent evolutionary models where the instantaneous rate of substitution at a site depends on the states of the neighboring sites. Neighbor......-dependent substitution models are analytically intractable and must be analyzed using either approximate or simulation-based methods. We describe statistical inference of neighbor-dependent models using a Markov chain Monte Carlo expectation maximization (MCMC-EM) algorithm. In the MCMC-EM algorithm, the high...

The variable refractive index correction algorithm based on a stereo light microscope

International Nuclear Information System (INIS)

Pei, W; Zhu, Y Y

2010-01-01

Refraction occurs at least twice on both the top and the bottom surfaces of the plastic plate covering the micro channel in a microfluidic chip. The refraction and the nonlinear model of a stereo light microscope (SLM) may severely affect measurement accuracy. In this paper, we study the correlation between optical paths of the SLM and present an algorithm to adjust the refractive index based on the SLM. Our algorithm quantizes the influence of cover plate and double optical paths on the measurement accuracy, and realizes non-destructive, non-contact and precise 3D measurement of a hyaloid and closed container

Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Directory of Open Access Journals (Sweden)

Yueyue Deng

2013-01-01

Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

A HYBRID HOPFIELD NEURAL NETWORK AND TABU SEARCH ALGORITHM TO SOLVE ROUTING PROBLEM IN COMMUNICATION NETWORK

Directory of Open Access Journals (Sweden)

MANAR Y. KASHMOLA

2012-06-01

Full Text Available The development of hybrid algorithms for solving complex optimization problems focuses on enhancing the strengths and compensating for the weakness of two or more complementary approaches. The goal is to intelligently combine the key elements of these approaches to find superior solutions to solve optimization problems. Optimal routing in communication network is considering a complex optimization problem. In this paper we propose a hybrid Hopfield Neural Network (HNN and Tabu Search (TS algorithm, this algorithm called hybrid HNN-TS algorithm. The paradigm of this hybridization is embedded. We embed the short-term memory and tabu restriction features from TS algorithm in the HNN model. The short-term memory and tabu restriction control the neuron selection process in the HNN model in order to get around the local minima problem and find an optimal solution using the HNN model to solve complex optimization problem. The proposed algorithm is intended to find the optimal path for packet transmission in the network which is fills in the field of routing problem. The optimal path that will be selected is depending on 4-tuples (delay, cost, reliability and capacity. Test results show that the propose algorithm can find path with optimal cost and a reasonable number of iterations. It also shows that the complexity of the network model won’t be a problem since the neuron selection is done heuristically.

Synthesis of Joint Volumes, Visualization of Paths, and Revision of Viewing Sequences in a Multi-dimensional Seismic Data Viewer

Science.gov (United States)

Chen, D. M.; Clapp, R. G.; Biondi, B.

2006-12-01

Ricksep is a freely-available interactive viewer for multi-dimensional data sets. The viewer is very useful for simultaneous display of multiple data sets from different viewing angles, animation of movement along a path through the data space, and selection of local regions for data processing and information extraction. Several new viewing features are added to enhance the program's functionality in the following three aspects. First, two new data synthesis algorithms are created to adaptively combine information from a data set with mostly high-frequency content, such as seismic data, and another data set with mainly low-frequency content, such as velocity data. Using the algorithms, these two data sets can be synthesized into a single data set which resembles the high-frequency data set on a local scale and at the same time resembles the low- frequency data set on a larger scale. As a result, the originally separated high and low-frequency details can now be more accurately and conveniently studied together. Second, a projection algorithm is developed to display paths through the data space. Paths are geophysically important because they represent wells into the ground. Two difficulties often associated with tracking paths are that they normally cannot be seen clearly inside multi-dimensional spaces and depth information is lost along the direction of projection when ordinary projection techniques are used. The new algorithm projects samples along the path in three orthogonal directions and effectively restores important depth information by using variable projection parameters which are functions of the distance away from the path. Multiple paths in the data space can be generated using different character symbols as positional markers, and users can easily create, modify, and view paths in real time. Third, a viewing history list is implemented which enables Ricksep's users to create, edit and save a recipe for the sequence of viewing states. Then, the recipe

The problem of the driverless vehicle specified path stability control

Science.gov (United States)

Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

2018-02-01

Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

Path Dependency

OpenAIRE

Mark Setterfield

2015-01-01

Path dependency is defined, and three different specific concepts of path dependency – cumulative causation, lock in, and hysteresis – are analyzed. The relationships between path dependency and equilibrium, and path dependency and fundamental uncertainty are also discussed. Finally, a typology of dynamical systems is developed to clarify these relationships.

An Improved Routing Optimization Algorithm Based on Travelling Salesman Problem for Social Networks

Directory of Open Access Journals (Sweden)

Naixue Xiong

2017-06-01

Full Text Available A social network is a social structure, which is organized by the relationships or interactions between individuals or groups. Humans link the physical network with social network, and the services in the social world are based on data and analysis, which directly influence decision making in the physical network. In this paper, we focus on a routing optimization algorithm, which solves a well-known and popular problem. Ant colony algorithm is proposed to solve this problem effectively, but random selection strategy of the traditional algorithm causes evolution speed to be slow. Meanwhile, positive feedback and distributed computing model make the algorithm quickly converge. Therefore, how to improve convergence speed and search ability of algorithm is the focus of the current research. The paper proposes the improved scheme. Considering the difficulty about searching for next better city, new parameters are introduced to improve probability of selection, and delay convergence speed of algorithm. To avoid the shortest path being submerged, and improve sensitive speed of finding the shortest path, it updates pheromone regulation formula. The results show that the improved algorithm can effectively improve convergence speed and search ability for achieving higher accuracy and optimal results.

A universal optimization strategy for ant colony optimization algorithms based on the Physarum-inspired mathematical model

International Nuclear Information System (INIS)

Zhang, Zili; Gao, Chao; Liu, Yuxin; Qian, Tao

2014-01-01

Ant colony optimization (ACO) algorithms often fall into the local optimal solution and have lower search efficiency for solving the travelling salesman problem (TSP). According to these shortcomings, this paper proposes a universal optimization strategy for updating the pheromone matrix in the ACO algorithms. The new optimization strategy takes advantages of the unique feature of critical paths reserved in the process of evolving adaptive networks of the Physarum-inspired mathematical model (PMM). The optimized algorithms, denoted as PMACO algorithms, can enhance the amount of pheromone in the critical paths and promote the exploitation of the optimal solution. Experimental results in synthetic and real networks show that the PMACO algorithms are more efficient and robust than the traditional ACO algorithms, which are adaptable to solve the TSP with single or multiple objectives. Meanwhile, we further analyse the influence of parameters on the performance of the PMACO algorithms. Based on these analyses, the best values of these parameters are worked out for the TSP. (paper)

Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

Directory of Open Access Journals (Sweden)

Zheping Yan

2014-01-01

Full Text Available 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.

BootGraph: probabilistic fiber tractography using bootstrap algorithms and graph theory.

Science.gov (United States)

Vorburger, Robert S; Reischauer, Carolin; Boesiger, Peter

2013-02-01

Bootstrap methods have recently been introduced to diffusion-weighted magnetic resonance imaging to estimate the measurement uncertainty of ensuing diffusion parameters directly from the acquired data without the necessity to assume a noise model. These methods have been previously combined with deterministic streamline tractography algorithms to allow for the assessment of connection probabilities in the human brain. Thereby, the local noise induced disturbance in the diffusion data is accumulated additively due to the incremental progression of streamline tractography algorithms. Graph based approaches have been proposed to overcome this drawback of streamline techniques. For this reason, the bootstrap method is in the present work incorporated into a graph setup to derive a new probabilistic fiber tractography method, called BootGraph. The acquired data set is thereby converted into a weighted, undirected graph by defining a vertex in each voxel and edges between adjacent vertices. By means of the cone of uncertainty, which is derived using the wild bootstrap, a weight is thereafter assigned to each edge. Two path finding algorithms are subsequently applied to derive connection probabilities. While the first algorithm is based on the shortest path approach, the second algorithm takes all existing paths between two vertices into consideration. Tracking results are compared to an established algorithm based on the bootstrap method in combination with streamline fiber tractography and to another graph based algorithm. The BootGraph shows a very good performance in crossing situations with respect to false negatives and permits incorporating additional constraints, such as a curvature threshold. By inheriting the advantages of the bootstrap method and graph theory, the BootGraph method provides a computationally efficient and flexible probabilistic tractography setup to compute connection probability maps and virtual fiber pathways without the drawbacks of

Optimization of the Critical Diameter and Average Path Length of Social Networks

Directory of Open Access Journals (Sweden)

Haifeng Du

2017-01-01

Full Text Available Optimizing average path length (APL by adding shortcut edges has been widely discussed in connection with social networks, but the relationship between network diameter and APL is generally ignored in the dynamic optimization of APL. In this paper, we analyze this relationship and transform the problem of optimizing APL into the problem of decreasing diameter to 2. We propose a mathematic model based on a memetic algorithm. Experimental results show that our algorithm can efficiently solve this problem as well as optimize APL.

Reachability by paths of bounded curvature in a convex polygon

KAUST Repository

Ahn, Heekap; Cheong, Otfried; Matoušek, Jiřǐ; Vigneron, Antoine E.

2012-01-01

Let B be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most 1, and let P be a convex polygon with n vertices. Given a starting configuration (a location and a direction of travel) for B inside P, we characterize the region of all points of P that can be reached by B, and show that it has complexity O(n). We give an O(n2) time algorithm to compute this region. We show that a point is reachable only if it can be reached by a path of type CCSCS, where C denotes a unit circle arc and S denotes a line segment. © 2011 Elsevier B.V.

A diffusion tensor imaging tractography algorithm based on Navier-Stokes fluid mechanics.

Science.gov (United States)

Hageman, Nathan S; Toga, Arthur W; Narr, Katherine L; Shattuck, David W

2009-03-01

We introduce a fluid mechanics based tractography method for estimating the most likely connection paths between points in diffusion tensor imaging (DTI) volumes. We customize the Navier-Stokes equations to include information from the diffusion tensor and simulate an artificial fluid flow through the DTI image volume. We then estimate the most likely connection paths between points in the DTI volume using a metric derived from the fluid velocity vector field. We validate our algorithm using digital DTI phantoms based on a helical shape. Our method segmented the structure of the phantom with less distortion than was produced using implementations of heat-based partial differential equation (PDE) and streamline based methods. In addition, our method was able to successfully segment divergent and crossing fiber geometries, closely following the ideal path through a digital helical phantom in the presence of multiple crossing tracts. To assess the performance of our algorithm on anatomical data, we applied our method to DTI volumes from normal human subjects. Our method produced paths that were consistent with both known anatomy and directionally encoded color images of the DTI dataset.

A simple MC-based algorithm for evaluating reliability of stochastic-flow network with unreliable nodes

International Nuclear Information System (INIS)

Yeh, W.-C.

2004-01-01

A MP/minimal cutset (MC) is a path/cut set such that if any edge is removed from this path/cut set, then the remaining set is no longer a path/cut set. An intuitive method is proposed to evaluate the reliability in terms of MCs in a stochastic-flow network subject to both edge and node failures under the condition that all of the MCs are given in advance. This is an extension of the best of known algorithms for solving the d-MC (a special MC but formatted in a system-state vector, where d is the lower bound points of the system capacity level) problem from the stochastic-flow network without unreliable nodes to with unreliable nodes by introducing some simple concepts. These concepts were first developed in the literature to implement the proposed algorithm to reduce the number of d-MC candidates. This method is more efficient than the best of known existing algorithms regardless if the network has or does not have unreliable nodes. Two examples are illustrated to show how the reliability is determined using the proposed algorithm in the network with or without unreliable nodes. The computational complexity of the proposed algorithm is analyzed and compared with the existing methods

Copper-Mediated Reactions of Nitriles with Nitromethanes: Aza-Henry Reactions and Nitrile Hydrations.

Science.gov (United States)

Kuwabara, Jun; Sawada, Yoshiharu; Yoshimatsu, Mitsuhiro

2018-02-16

In this study, the first aza-Henry reaction of nitriles with nitromethane in a CuI/Cs 2 CO 3 /DBU system is described. The process was conveniently and directly used for the synthesis of β-aminonitroalkenes 2a-x and tolerated aryl-, alkyl-, hetaryl-, alkenyl-, and alkynylnitriles. The resulting aminonitroalkenes 2 could be successfully transformed to the corresponding 2-nitroacetophenones, 2-amino-1-halonitroalkenes, 2-alkylaminonitroalkenes, or 3-nitropyridines. In the presence of H 2 O, the aza-Henry reaction turned the reaction path to the nitrile hydration to exclusively yield the amides 3a-s.

Capturing cognitive causal paths in human reliability analysis with Bayesian network models

International Nuclear Information System (INIS)

Zwirglmaier, Kilian; Straub, Daniel; Groth, Katrina M.

2017-01-01

reIn the last decade, Bayesian networks (BNs) have been identified as a powerful tool for human reliability analysis (HRA), with multiple advantages over traditional HRA methods. In this paper we illustrate how BNs can be used to include additional, qualitative causal paths to provide traceability. The proposed framework provides the foundation to resolve several needs frequently expressed by the HRA community. First, the developed extended BN structure reflects the causal paths found in cognitive psychology literature, thereby addressing the need for causal traceability and strong scientific basis in HRA. Secondly, the use of node reduction algorithms allows the BN to be condensed to a level of detail at which quantification is as straightforward as the techniques used in existing HRA. We illustrate the framework by developing a BN version of the critical data misperceived crew failure mode in the IDHEAS HRA method, which is currently under development at the US NRC . We illustrate how the model could be quantified with a combination of expert-probabilities and information from operator performance databases such as SACADA. This paper lays the foundations necessary to expand the cognitive and quantitative foundations of HRA. - Highlights: • A framework for building traceable BNs for HRA, based on cognitive causal paths. • A qualitative BN structure, directly showing these causal paths is developed. • Node reduction algorithms are used for making the BN structure quantifiable. • BN quantified through expert estimates and observed data (Bayesian updating). • The framework is illustrated for a crew failure mode of IDHEAS.

Non-binary decomposition trees - a method of reliability computation for systems with known minimal paths/cuts

Energy Technology Data Exchange (ETDEWEB)

Malinowski, Jacek

2004-05-01

A coherent system with independent components and known minimal paths (cuts) is considered. In order to compute its reliability, a tree structure T is constructed whose nodes contain the modified minimal paths (cuts) and numerical values. The value of a non-leaf node is a function of its child nodes' values. The values of leaf nodes are calculated from a simple formula. The value of the root node is the system's failure probability (reliability). Subsequently, an algorithm computing the system's failure probability (reliability) is constructed. The algorithm scans all nodes of T using a stack structure for this purpose. The nodes of T are alternately put on and removed from the stack, their data being modified in the process. Once the algorithm has terminated, the stack contains only the final modification of the root node of T, and its value is equal to the system's failure probability (reliability)

Complete coverage path planning of a random polygon - A FroboMind component

DEFF Research Database (Denmark)

Aslund, Sebastian; Jensen, Kjeld; Jørgensen, Rasmus Nyholm

solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning. To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation...

Reaction mechanism and reaction coordinates from the viewpoint of energy flow

Energy Technology Data Exchange (ETDEWEB)

Li, Wenjin; Ma, Ao, E-mail: aoma@uic.edu [Department of Bioengineering, The University of Illinois at Chicago, 851 South Morgan Street, Chicago, Illinois 60607 (United States)

2016-03-21

Reaction coordinates are of central importance for correct understanding of reaction dynamics in complex systems, but their counter-intuitive nature made it a daunting challenge to identify them. Starting from an energetic view of a reaction process as stochastic energy flows biased towards preferred channels, which we deemed the reaction coordinates, we developed a rigorous scheme for decomposing energy changes of a system, both potential and kinetic, into pairwise components. The pairwise energy flows between different coordinates provide a concrete statistical mechanical language for depicting reaction mechanisms. Application of this scheme to the C{sub 7eq} → C{sub 7ax} transition of the alanine dipeptide in vacuum revealed novel and intriguing mechanisms that eluded previous investigations of this well studied prototype system for biomolecular conformational dynamics. Using a cost function developed from the energy decomposition components by proper averaging over the transition path ensemble, we were able to identify signatures of the reaction coordinates of this system without requiring any input from human intuition.

Reaction mechanism and reaction coordinates from the viewpoint of energy flow

International Nuclear Information System (INIS)

Li, Wenjin; Ma, Ao

2016-01-01

Reaction coordinates are of central importance for correct understanding of reaction dynamics in complex systems, but their counter-intuitive nature made it a daunting challenge to identify them. Starting from an energetic view of a reaction process as stochastic energy flows biased towards preferred channels, which we deemed the reaction coordinates, we developed a rigorous scheme for decomposing energy changes of a system, both potential and kinetic, into pairwise components. The pairwise energy flows between different coordinates provide a concrete statistical mechanical language for depicting reaction mechanisms. Application of this scheme to the C 7eq → C 7ax transition of the alanine dipeptide in vacuum revealed novel and intriguing mechanisms that eluded previous investigations of this well studied prototype system for biomolecular conformational dynamics. Using a cost function developed from the energy decomposition components by proper averaging over the transition path ensemble, we were able to identify signatures of the reaction coordinates of this system without requiring any input from human intuition.

Warehouse stocking optimization based on dynamic ant colony genetic algorithm

Science.gov (United States)

Xiao, Xiaoxu

2018-04-01

In view of the various orders of FAW (First Automotive Works) International Logistics Co., Ltd., the SLP method is used to optimize the layout of the warehousing units in the enterprise, thus the warehouse logistics is optimized and the external processing speed of the order is improved. In addition, the relevant intelligent algorithms for optimizing the stocking route problem are analyzed. The ant colony algorithm and genetic algorithm which have good applicability are emphatically studied. The parameters of ant colony algorithm are optimized by genetic algorithm, which improves the performance of ant colony algorithm. A typical path optimization problem model is taken as an example to prove the effectiveness of parameter optimization.

On path generation and feedforward control for a class of surface sailing vessels

DEFF Research Database (Denmark)

Xiao, Lin; Jouffroy, Jerome

2010-01-01

Sailing vessels with wind as their main means of propulsion possess a unique property that the paths they take depend on the wind direction, which, in the literature, has attracted less attention than normal vehicles propelled by propellers or thrusters. This paper considers the problem of motion...... planning and controllability for sailing vehicles representing the no-sailing zone effect in sailing. Following our previous work, we present an extended algorithm for automatic path generation with a prescribed initial heading for a simple model of sailing vehicles, together with a feedforward controller...

Quivers of Bound Path Algebras and Bound Path Coalgebras

Directory of Open Access Journals (Sweden)

Dr. Intan Muchtadi

2010-09-01

Full Text Available bras and coalgebras can be represented as quiver (directed graph, and from quiver we can construct algebras and coalgebras called path algebras and path coalgebras. In this paper we show that the quiver of a bound path coalgebra (resp. algebra is the dual quiver of its bound path algebra (resp. coalgebra.

Fractional path planning and path tracking

International Nuclear Information System (INIS)

Melchior, P.; Jallouli-Khlif, R.; Metoui, B.

2011-01-01

This paper presents the main results of the application of fractional approach in path planning and path tracking. A new robust path planning design for mobile robot was studied in dynamic environment. The normalized attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacles is characterized by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behavior was studied by analyzing its X - Y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non integer order properties. Pre shaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P.Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of C ommande Robuste d'Ordre Non Entier ) control system design is a frequency-domain based methodology using complex fractional integration.

Preliminary test results of a flight management algorithm for fuel conservative descents in a time based metered traffic environment. [flight tests of an algorithm to minimize fuel consumption of aircraft based on flight time

Science.gov (United States)

Knox, C. E.; Cannon, D. G.

1979-01-01

A flight management algorithm designed to improve the accuracy of delivering the airplane fuel efficiently to a metering fix at a time designated by air traffic control is discussed. The algorithm provides a 3-D path with time control (4-D) for a test B 737 airplane to make an idle thrust, clean configured descent to arrive at the metering fix at a predetermined time, altitude, and airspeed. The descent path is calculated for a constant Mach/airspeed schedule from linear approximations of airplane performance with considerations given for gross weight, wind, and nonstandard pressure and temperature effects. The flight management descent algorithms and the results of the flight tests are discussed.

Crack path predictions and experiments in plane structures considering anisotropic properties and material interfaces

Directory of Open Access Journals (Sweden)

P.O. Judt

2015-10-01

Full Text Available In many engineering applications special requirements are directed to a material's fracture behavior and the prediction of crack paths. Especially if the material exhibits anisotropic elastic properties or fracture toughnesses, e.g. in textured or composite materials, the simulation of crack paths is challenging. Here, the application of path independent interaction integrals (I-integrals, J-, L- and M-integrals is beneficial for an accurate crack tip loading analysis. Numerical tools for the calculation of loading quantities using these path-invariant integrals are implemented into the commercial finite element (FE-code ABAQUS. Global approaches of the integrals are convenient considering crack tips approaching other crack faces, internal boundaries or material interfaces. Curved crack faces require special treatment with respect to integration contours. Numerical crack paths are predicted based on FE calculations of the boundary value problem in connection with an intelligent adaptive re-meshing algorithm. Considering fracture toughness anisotropy and accounting for inelastic effects due to small plastic zones in the crack tip region, the numerically predicted crack paths of different types of specimens with material interfaces and internal boundaries are compared to subcritically grown paths obtained from experiments.

A retrieval algorithm of hydrometer profile for submillimeter-wave radiometer

Science.gov (United States)

Liu, Yuli; Buehler, Stefan; Liu, Heguang

2017-04-01

Vertical profiles of particle microphysics perform vital functions for the estimation of climatic feedback. This paper proposes a new algorithm to retrieve the profile of the parameters of the hydrometeor(i.e., ice, snow, rain, liquid cloud, graupel) based on passive submillimeter-wave measurements. These parameters include water content and particle size. The first part of the algorithm builds the database and retrieves the integrated quantities. Database is built up by Atmospheric Radiative Transfer Simulator(ARTS), which uses atmosphere data to simulate the corresponding brightness temperature. Neural network, trained by the precalculated database, is developed to retrieve the water path for each type of particles. The second part of the algorithm analyses the statistical relationship between water path and vertical parameters profiles. Based on the strong dependence existing between vertical layers in the profiles, Principal Component Analysis(PCA) technique is applied. The third part of the algorithm uses the forward model explicitly to retrieve the hydrometeor profiles. Cost function is calculated in each iteration, and Differential Evolution(DE) algorithm is used to adjust the parameter values during the evolutionary process. The performance of this algorithm is planning to be verified for both simulation database and measurement data, by retrieving profiles in comparison with the initial one. Results show that this algorithm has the ability to retrieve the hydrometeor profiles efficiently. The combination of ARTS and optimization algorithm can get much better results than the commonly used database approach. Meanwhile, the concept that ARTS can be used explicitly in the retrieval process shows great potential in providing solution to other retrieval problems.

An Effective Hybrid Routing Algorithm in WSN: Ant Colony Optimization in combination with Hop Count Minimization

Directory of Open Access Journals (Sweden)

Ailian Jiang

2018-03-01

Full Text Available Low cost, high reliability and easy maintenance are key criteria in the design of routing protocols for wireless sensor networks (WSNs. This paper investigates the existing ant colony optimization (ACO-based WSN routing algorithms and the minimum hop count WSN routing algorithms by reviewing their strengths and weaknesses. We also consider the critical factors of WSNs, such as energy constraint of sensor nodes, network load balancing and dynamic network topology. Then we propose a hybrid routing algorithm that integrates ACO and a minimum hop count scheme. The proposed algorithm is able to find the optimal routing path with minimal total energy consumption and balanced energy consumption on each node. The algorithm has unique superiority in terms of searching for the optimal path, balancing the network load and the network topology maintenance. The WSN model and the proposed algorithm have been implemented using C++. Extensive simulation experimental results have shown that our algorithm outperforms several other WSN routing algorithms on such aspects that include the rate of convergence, the success rate in searching for global optimal solution, and the network lifetime.

An algorithm to construct the basic algebra of a skew group algebra

NARCIS (Netherlands)

Horobeţ, E.

2016-01-01

We give an algorithm for the computation of the basic algebra Morita equivalent to a skew group algebra of a path algebra by obtaining formulas for the number of vertices and arrows of the new quiver Qb. We apply this algorithm to compute the basic algebra corresponding to all simple quaternion