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Optimized CUDA Implementation to Improve the Performance of Bundle Adjustment Algorithm on GPUs

Journal of Software engineering and Applications 2024年第4期17卷 172-201页

作者： Pranay r. Kommera Suresh S. Muknahallipatna John e. McInroy Department of electrical engineering and Computer Science University of Wyoming Laramie Wyoming USA

The 3D reconstruction pipeline uses the Bundle Adjustment algorithm to refine the camera and point parameters. The Bundle Adjustment algorithm is a compute-intensive algorithm, and many researchers have improved its performance by implementing the algorithm on GPUs. In the previous research work, “Improving Accuracy and Computational Burden of Bundle Adjustment Algorithm using GPUs,” the authors demonstrated first the Bundle Adjustment algorithmic performance improvement by reducing the mean square error using an additional radial distorting parameter and explicitly computed analytical derivatives and reducing the computational burden of the Bundle Adjustment algorithm using GPUs. The naïve implementation of the CUDA code, a speedup of 10× for the largest dataset of 13,678 cameras, 4,455,747 points, and 28,975,571 projections was achieved. In this paper, we present the optimization of the Bundle Adjustment algorithm CUDA code on GPUs to achieve higher speedup. We propose a new data memory layout for the parameters in the Bundle Adjustment algorithm, resulting in contiguous memory access. We demonstrate that it improves the memory throughput on the GPUs, thereby improving the overall performance. We also demonstrate an increase in the computational throughput of the algorithm by optimizing the CUDA kernels to utilize the GPU resources effectively. A comparative performance study of explicitly computing an algorithm parameter versus using the Jacobians instead is presented. In the previous work, the Bundle Adjustment algorithm failed to converge for certain datasets due to several block matrices of the cameras in the augmented normal equation, resulting in rank-deficient matrices. In this work, we identify the cameras that cause rank-deficient matrices and preprocess the datasets to ensure the convergence of the BA algorithm. Our optimized CUDA implementation achieves convergence of the Bundle Adjustment algorithm in around 22 seconds for the largest dataset compared

关键词： Scene reconstruction Bundle Adjustment Levenberg-Marquardt Non-Linear Least Squares Memory Throughput Computational Throughput Contiguous Memory Access CUDA Optimization

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recent Ventures in Interdisciplinary Arctic research:The ArCPATH Project

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Advances in Atmospheric Sciences 2024年第8期41卷 1559-1568页

作者： Astrid e.J.OGILVIe Leslie A.KING Noel KeeNLYSIDe François COUNILLON Brynhildur DAVIÐSDÓTTIr Níels eINArSSON Sergey GULeV Ke FAN Torben KOeNIGK James r.MCGOODWIN Marianne H.rASMUSSON Shuting YANG Institute of Arctic and Alpine research(INSTAAr) University of ColoradoBoulder CO 80303USA Stefansson Arctic Institute AkureyriÍS-600Iceland royal roads University BC V9B 5Y2Canada University of Bergen Bergen N-5007Norway Nansen environmental and remote Sensing Centre Bergen N-5007Norway University of Iceland Reykjavík 102Iceland Shirshov Institute of Oceanology Moscow 117218Russia Moscow State University Moscow 11991Russia Chinese Academy of Sciences Beijing 100045China Swedish Meteorological and Hydrological Institute SE-60176 NorrköpingSweden Danish Meteorological Institute CopenhagenØ2100Denmark Obukhov Institute of Atmospheric Physics RAS119017MoscowRussia

This paper celebrates Professor Yongqi GAO's significant achievement in the field of interdisciplinary studies within the context of his final research project Arctic Climate Predictions: Pathways to resilient Sustainable Societies-ArCPATH(https://***/en/projects/finished-projects/arcpath). The disciplines represented in the project are related to climatology, anthropology, marine biology, economics, and the broad spectrum of social-ecological studies. Team members were drawn from the Nordic countries, russia, China, the United States, and Canada. The project was transdisciplinary as well as interdisciplinary as it included collaboration with local knowledge holders. ArCPATH made significant contributions to Arctic research through an improved understanding of the mechanisms that drive climate variability in the Arctic. In tandem with this research, a combination of historical investigations and social, economic, and marine biological fieldwork was carried out for the project study areas of Iceland, Greenland, Norway, and the surrounding seas, with a focus on the joint use of ocean and sea-ice data as well as social-ecological drivers. ArCPATH was able to provide an improved framework for predicting the near-term variation of Arctic climate on spatial scales relevant to society, as well as evaluating possible related changes in socioeconomic realms. In summary, through the integration of information from several different disciplines and research approaches, ArCPATH served to create new and valuable knowledge on crucial issues, thus providing new pathways to action for Arctic communities.

关键词： recent Ventures in Interdisciplinary Arctic research:The ArCPATH Project

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rodent biology and ecologically based rodent management(eBrM)-25 years of progress through promoting multidisciplinary research

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Integrative Zoology 2024年第1期19卷 2-7页

作者： Grant r. SINGLeTON Lyn A. HINDS rhodes MAKUNDI Steven r. BeLMAIN Natural resources Institute University of Greenwich Kent UK CSIrO Health and Biosecurity Canberra ACT Australia African Centre of excellence for Innovative rodent Pest Management and Biosensor Technology Development Sokoine University of Agriculture Morogoro Tanzania Institute of Pest Management Sokoine University of Agriculture Morogoro Tanzania

“During rodent outbreak years in eastern Africa,lo-cally,more than 80%of the potential harvest may be lost,but even in non-outbreak periods,rodents cause chronic damage to crops….The pest rodent story in Africa in-volves several species embedded in a broad and variable landscape with highly variable densities.”(Leirs et al.2010).

关键词： damage crops

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Jigsaw-Sketch: a fast and accurate algorithm for finding top-k elephant flows in high-speed networks

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Science China(Information Sciences) 2024年第4期67卷 113-130页

作者： Boyu ZHANG He HUANG Yu-e SUN Yang DU Dan WANG School of Computer Science and Technology Soochow University School of rail Transportation Soochow University

Finding top-k elephant flows in high-speed networks is one of the most fundamental network measurement tasks. It is more challenging than per-flow size estimation since the IDs and sizes of top-k flows must be tracked simultaneously. Most existing studies only record the IDs of a small number of elephant flows to fit their estimators in the extremely limited high-speed on-chip memory. However, these solutions need too many memory accesses when a packet arrives to track the elephant flows with high accuracy, which limits their practicability. Therefore, this paper proposes Jigsaw-Sketch, a new algorithm to find the top-k elephant flows with much fewer memory accesses while achieving high memory efficiency and accuracy. In this design, we propose a novel two-stage jigsaw storage scheme, which can capture the candidate top-k flows from massive network steams efficiently, and further find the top-k elephant flows with high memory efficiency and only a few memory accesses for each packet. extensive experimental results based on real network traces show that Jigsaw-Sketch improves the packet processing throughput by at least 86%, while achieving smaller memory footprints and higher accuracy compared to the SOTA.

关键词： sketch top-$k$ network measurement elephant flow high-speed networks

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Navigating the Challenges of emerging Contaminants to Protect Human and ecological Health

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engineering 2024年第6期37卷 1-2页

作者： Jiuhui Qu Michael r.Hoffmann Gang Yu School of environment Tsinghua UniversityBeijing 100084China Linde-robinson Laboratories California Institute of TechnologyPasadenaCA 91125USA Advanced Interdisciplinary Institute of environmental and ecology Beijing Normal UniversityZhuhai 519000China

emerging contaminants are defined as chemicals that are not currently(or have only recently been)regulated and about which there are concerns regarding their impact on human or ecological *** contaminants are widely detected in air,water,soil,sediment,and biotic *** is against this backdrop of urgency that we have curated this special issue titled“emerging Contaminants Control:Science and Technology,”with the goal of uniting the latest scientific insights and pioneering strategies to address this global *** special issue embarks on a comprehensive examination of the emerging contaminants dilemma,covering aspects such as risk assessment,remediation technologies,environmental surveying,and the broader implications for *** a collection of articles,we probe deep into the core of this issue,showcasing studies that range from appraising environmental risks to forging new methods for treatment and scrutinizing the occurrence of contaminants across different environmental settings.

关键词： ecological surveying environmental

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Mitochondrial recruitment in myelin:an anchor for myelin dynamics and plasticity?

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Neural regeneration research 2024年第7期19卷 1401-1402页

作者： Jean-David M.Gothié Timothy e.Kennedy Department of Neurology and Neurosurgery Montreal Neurological InstituteMcGill UniversityMontrealQCCanada

Optimal propagation of neuronal electrical impulses depends on the insulation of axons by myelin,produced in the central nervous system by *** is an extension of the oligodendrocyte plasma membrane,which wraps around an axon to form a compact multi-layered *** is composed of a substantially higher proportion of lipids compared to other biological membranes and enriched in a small number of specialized proteins.

关键词： plasticity insulation dynamics

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New insights into the role of the endoplasmic reticulum in microglia

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Neural regeneration research 2024年第7期19卷 1397-1398页

作者： Veronika e.Neubrand M.rosario Sepúlveda Department of Cell Biology Faculty of SciencesUniversity of GranadaGranadaSpain

Microglial cells are the only resident immune cells in the central nervous system and constitute its frontline *** are extremely reactive against infections,trauma,or toxins,but are also responsible for mediating inflammation,taking part in the pathogenic course of many neuropathologies(Sierra et al.,2019).Cell-specific staining,ultrastructural analysis by transmission electron microscopy(TeM),or two-photonmicroscopy imaging have been relevant for the characterization of microglia as well as their cell-cell interactions。

关键词： inflammation reticulum

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enhanced quantum resources via two distant atom-cavity systems under the influence of atomic dissipation

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Communications in Theoretical Physics 2024年第2期76卷 62-73页

作者： M Setodeh Kheirabady M K Tavassoly M rafeie e Ghasemian Laser and Optics Group Faculty of PhysicsYazd UniversityYazd 89195-741Iran Department of electrical engineering Faculty of Intelligent Systems Engineering and Data SciencePersian Gulf UniversityBushehrIran

Quantum resources such as entanglement and coherence are the holy grail for modern quantum technologies. Although the unwanted environmental effects tackle quantum information processing tasks, suprisingly these key quantum resources may be protected and even enhanced by the implementation of some special hybrid open quantum systems. Here, we aim to show how a dissipative atom-cavity-system can be accomplished to generate enhanced quantum *** do so, we consider a couple of dissipative cavities, where each one contains two effective two-level atoms interacting with a single-mode cavity field. In practical applications, a classical laser field may be applied to drive each atomic subsystem. After driving the system, a Bell-state measurement is performed on the output of the system to quantify the entanglement and coherence. The obtained results reveal that the remote entanglement and coherence between the atoms existing inside the two distant cavities are not only enhanced, but can be stabilized, even under the action of dissipation. In contrast, the local entanglement between two atoms inside each dissipative cavity attenuates due to the presence of unwanted environmental ***, the local coherence may show the same behavior as the remote ***, the system provides the steady state entanglement in various interaction regimes,particularly in the strong atom-cavity coupling and with relatively large detuning. More interestingly, our numerical analyses demonstrate that the system may show a memory effect due to the fact that the death and revival of the entanglement take place during the interaction. Our proposed model may find potential applications for the implementation of long distance quantum networks. In particular, it facilitates the distribution of quantum resources between the nodes of large-scale quantum networks for secure communication.

关键词： remote entanglement and coherence atomic dissipation steady state entanglement Bell-statemeasurement

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evaluation of the seismic behavior of reinforced concrete structures with flat slab-column gravity frame and shear walls through nonlinear analysis methods

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earthquake engineering and engineering Vibration 2024年第3期23卷 713-726页

作者： M.A.Najafgholipour S.Heidarian radbakhsh e.erfani Department of Civil and environmental engineering Shiraz University of TechnologyShiraz ***Iran Department of Building Civiland Environmental EngineeringConcordia UniversityMontréal H3G 1M8Canada

This paper presents an investigation of the seismic behavior of reinforced concrete(rC)structures in which shear walls are the main lateral load-resisting elements and the participation of flat slab floor systems is not considered in the seismic design *** this regard,the behavior of six prototype structures(with different heights and plan layouts)is investigated through nonlinear static and time history analyses,implemented in the OpenSees *** results of the analyses are presented in terms of the behavior of the slab-column connections and their mode of failure at different loading ***,the global response of the buildings is discussed in terms of some parameters,such as lateral overstrength due to the gravity flat slab-column *** to the nonlinear static analyses,in structures in which the slab-column connections were designed only for gravity loads,the slab-column connections exhibited a punching mode of failure even in the early stages of ***,the punching failure was eliminated in structures in which a minimum transverse reinforcement recommended in ACI 318(2019)was provided in the slabs at joint ***,despite neglecting the contribution of gravity flat slab-column frames in the lateral load resistance of the structures,a relatively significant overstrength was imposed on the structures by the gravity frames.

关键词： rC flat slab-column frames seismic behavior nonlinear analysis time history analysis

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Ultrafast optical modulation of the fluorescence from a single-photon emitter in silicon carbide

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Photonics research 2024年第5期12卷 941-946页

作者： MeNGTING He YUJING CAO JUNJIe LIN ZHIPING JU BOTAO WU e WU State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200241China Photon Technology(Zhejiang)Co. Ltd.Jiaxing 314100China National Key Laboratory of Materials for Integrated Circuits Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200000China Department of Physics and Shanghai Key Laboratory for Magnetic resonance East China Normal UniversityShanghai 200241China Chongqing Key Laboratory of Precision Optics Chongqing Institute of East China Normal UniversityChongqing 401120China Collaborative Innovation Center of extreme Optics Shanxi UniversityTaiyuan 030006China

The quest for the room-temperature optical transistor based on nonlinearities in single atoms or molecules is attracting a lot of *** this work,a single-photon emitter in cubic silicon carbide is verified that can operate as an optical switch at room temperature under pulsed green laser illumination with a near-infrared pulsed laser as the control *** demonstrated an ultrafast and reversible optical modulation with a high photoluminescence intensity suppression ratio up to 97.9%and a response time as short as 287.9±5.7 *** current development provides insights for high-precision and ultrafast optical switches,with possibilities for integration with emerging electronic installations to realize more intelligent photoelectric integrated devices.

关键词： emitter carbide photon

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