Query: Bio inspired computing - A review of algorithms and scope of applications

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Chaotic bat algorithm <=SEP=> Bat algorithm (BA) is a recent metaheuristic optimization algorithm proposed by Yang. In the present study, we have introduced chaos into BA so as to increase its global search mobility for robust global optimization. Detailed studies have been carried out on benchmark problems with different chaotic maps. Here, four different variants of chaotic BA are introduced and thirteen different chaotic maps are vailable online xxx eywords: at algorithm haos etaheuristic lobal optimization utilized for validating each of these four variants. The results show that some variants of chaotic BAs can clearly outperform the standard BA for these benchmarks. © 2013 Elsevier B.V. All rights reserved. . Introduction Many design optimization problems are often highly nonlinar, which can typically have multiple modal optima, and it is thus ery challenging to solve such multimodal problems. To cope with his issue, global optimization algorithms are widely attempted, owever, traditional algorithms may not produce good results, and atest trends are to use new metaheuristic algorithms [1]. Metaeuristic techniques are well-known global optimization methods hat have been successfully applied in many real-world and comlex optimization problems [2,3]. These techniques attempt to imic natural phenomena or social behavior so as to generate etter solutions for optimization problem by using iterations and tochasticity [4]. They also try to use both intensification and iversification to achieve better search performance. Intensificaion typically searches around the current best solutions and selects he best candidate designs, while the diversification process allows he optimizer to explore the search space more efficiently, mostly y randomization [1]. In recent years, several novel metaheuristic algorithms have een proposed for global search. Such algorithms can increase he computational efficiency, solve larger problems, and implePlease cite this article in press as: A.H. Gandomi, X.-S. http://dx.doi.org/10.1016/j.jocs.2013.10.002 ent robust optimization codes [5]. For example, Xin-She Yang [6] ecently developed a promising metaheuristic algorithm, called bat lgorithm (BA). Preliminary studies suggest that the BA can have ∗ Corresponding author. Tel.: +44 2084112351. E-mail addresses: a.h.gandomi@gmail.com, ag72@uakron.edu (A.H. Gandomi), .yang@mdx.ac.uk (X.-S. Yang). 877-7503/$ – see front matter © 2013 Elsevier B.V. All rights reserved. ttp://dx.doi.org/10.1016/j.jocs.2013.10.002 superior performance over genetic algorithms and particle swarm optimization [6], and it can solve real world and engineering optimization problems [7–10]. On the other hand, recent advances in theories and applications of nonlinear dynamics, especially chaos, have drawn more attention in many fields [10]. One of these fields is the applications of chaos in optimization algorithms to replace certain algorithm-dependent parameters [11]. Previously, chaotic sequences have been used to tune parameters in metaheuristic optimization algorithms such as genetic algorithms [12], particle swarm optimization [13], harmony search [14], ant and bee colony optimization [15,16], imperialist competitive algorithm [17], firefly algorithm [18], and simulated annealing [19]. Such a combination of chaos with metaheuristics has shown some promise once the right set of chaotic maps are used. It is still not clear why the use of chaos in an algorithm to replace certain parameters may change the performance, however, empirical studies indeed indicate that chaos can have high-level of mixing capability, and thus it can be expected that when a fixed parameter is replaced by a chaotic map, the solutions generated may have higher mobility and diversity. For this reason, it may be useful to carry out more studies by introducing chaos to other, especially newer, metaheuristic algorithms. Therefore, one of the aims of this paper is to introduce chaos into the standard bat algorithm, and as a result, we propose a chaosbased bat algorithm (CBA). As different chaotic maps may lead to different behavior of the algorithm, we then have a set of chaosYang, Chaotic bat algorithm, J. Comput. Sci. (2013), based bat algorithms. In these algorithms, we use different chaotic systems to replace the parameters in BA. Thus different methods that use chaotic maps as potentially efficient alternatives to pseudorandom sequences have been proposed. In order to evaluate the

A novel bat algorithm with habitat selection and Doppler effect in echoes for optimization <=SEP=> A novel bat algorithm (NBA) is proposed for optimization in this paper, which focuses on further mimicking the bats’ behaviors and improving bat algorithm (BA) in view of biology. The proposed algorithm incorporates the bats’ habitat selection and their self-adaptive compensation for Doppler effect in echoes into the basic BA. The bats’ habitat selection is modeled as the selection between their quantum behaviors and mechanical behaviors. Having considered the bats’ self-adaptive compensation for Doppler effect in echoes and the individual’s difference in the compensation rate, the echolocation characteristics of bats can be further simulated in NBA. A self-adaptive local search strategy is also embedded into NBA. Simulations and comparisons based on twenty benchmark problems and four real-world engineering designs demonstrate the effectiveness, efficiency and stability of NBA compared with the basic BA and some well-known algorithms, and suggest that to improve algorithm based on biological basis should be very efficient. Further research topics are also discussed. 2015 Elsevier Ltd. All rights reserved.

Use of genetic algorithms to solve production and operations management problems: A review <=SEP=> Operations managers and scholars in their search for fast and good solutions to real-world problems have applied genetic algorithms to many problems. While genetic algorithms are promising tools for problem solving, future research will benefit from a review of the problems that have been solved and the designs of the genetic algorithms used to solve them. This paper provides a review of the use of genetic algorithms to solve operations problems. Reviewed papers are classified according to the problems they solve. The basic design of each genetic algorithm is described, the shortcomings of the current research are discussed and directions for future research are suggested.

A swarm optimization algorithm inspired in the behavior of the social-spider <=SEP=> Swarm intelligence is a research field that models the collective behavior in swarms of insects or animals. Several algorithms arising from such models have been proposed to solve a wide range of complex optimization problems. In this paper, a novel swarm algorithm called the Social Spider Optimization (SSO) is proposed for solving optimization tasks. The SSO algorithm is based on the simulation of cooperative behavior of social-spiders. In the proposed algorithm, individuals emulate a group of spiders which interact to each other based on the biological laws of the cooperative colony. The algorithm considers two different search agents (spiders): males and females. Depending on gender, each individual is conducted by a set of different evolutionary operators which mimic different cooperative behaviors that are typically found in the colony. In order to illustrate the proficiency and robustness of the proposed approach, it is compared to other well-known evolutionary methods. The comparison examines several standard benchmark functions that are commonly considered within the literature of evolutionary algorithms. The outcome shows a high performance of the proposed method for searching a global optimum with several benchmark functions.

Bat-Inspired Optimization Approach for the Brushless DC Wheel Motor Problem <=SEP=> This paper presents a metaheuristic algorithm inspired in evolutionary computation and swarm intelligence concepts and fundamentals of echolocation of micro bats. The aim is to optimize the mono and multiobjective optimization problems related to the brushless DC wheel motor problems, which has 5 design parameters and 6 constraints for the mono-objective problem and 2 objectives, 5 design parameters, and 5 constraints for multiobjective version. Furthermore, results are compared with other optimization approaches proposed in the recent literature, showing the feasibility of this newly introduced technique to high nonlinear problems in electromagnetics.

On-the-Job Learning with Bayesian Decision Theory <=SEP=> Our goal is to deploy a high-accuracy system starting with zero training examples. We consider an on-the-job setting, where as inputs arrive, we use real-time crowdsourcing to resolve uncertainty where needed and output our prediction when confident. As the model improves over time, the reliance on crowdsourcing queries decreases. We cast our setting as a stochastic game based on Bayesian decision theory, which allows us to balance latency, cost, and accuracy objectives in a principled way. Computing the optimal policy is intractable, so we develop an approximation based on Monte Carlo Tree Search. We tested our approach on three datasets—named-entity recognition, sentiment classification, and image classification. On the NER task we obtained more than an order of magnitude reduction in cost compared to full human annotation, while boosting performance relative to the expert provided labels. We also achieve a 8% F1 improvement over having a single human label the whole set, and a 28% F1 improvement over online learning. “Poor is the pupil who does not surpass his master.” – Leonardo da Vinci

Rethinking serializable multiversion concurrency control <=SEP=> Multi-versioned database systems have the potential to significantly increase the amount of concurrency in transaction processing because they can avoid read-write conflicts. Unfortunately, the increase in concurrency usually comes at the cost of transaction serializability. If a database user requests full serializability, modern multi-versioned systems significantly constrain read-write concurrency among conflicting transactions and employ expensive synchronization patterns in their design. In main-memory multi-core settings, these additional constraints are so burdensome that multiversioned systems are often significantly outperformed by singleversion systems. We propose BOHM, a new concurrency control protocol for mainmemory multi-versioned database systems. BOHM guarantees serializable execution while ensuring that reads never block writes. In addition, BOHM does not require reads to perform any bookkeeping whatsoever, thereby avoiding the overhead of tracking reads via contended writes to shared memory. This leads to excellent scalability and performance in multi-core settings. BOHM has all the above characteristics without performing validation based concurrency control. Instead, it is pessimistic, and is therefore not prone to excessive aborts in the presence of contention. An experimental evaluation shows that BOHM performs well in both high contention and low contention settings, and is able to dramatically outperform state-of-the-art multi-versioned systems despite maintaining the full set of serializability guarantees.

Overview of rotary steerable system and its control methods <=SEP=> Rotary steerable system (RSS) is a new technique of drilling technology adopted in directional drilling. Compared with conventional directional drilling, RSS has the ability to improve the drilling efficiency, reduce the drilling risk and decrease the drilling cost at the same time. This paper summaries the fundamental structure, classification, directional principle and development process of RSS; and gives detail analysis of the control methods in RSS. According to these summaries and analyses, the advantages and disadvantages of RSS at present are given, and some key suggestions about this technique and the related control methods are also proposed in this paper.

Commonsense Reasoning Based on Betweenness and Direction in Distributional Models <=SEP=> Several recent approaches use distributional similarity for making symbolic reasoning more flexible. While an important step in the right direction, the use of similarity has a number of inherent limitations. We argue that similarity-based reasoning should be complemented with commonsense reasoning patterns such as interpolation and a fortiori inference. We show how the required background knowledge for these inference patterns can be obtained from distributional models.

A Survey on Mobile Banking Applications and the Adopted Models <=SEP=> Many banks around the world are starting to offer banking services through mobile phones. Therefore, many studies have been proposed to help bankers to increase the number of customers. Despite the effort that has been founded in the state of the art, the adoption rate of mobile banking application has not reached the expected amount yet. Therefore, the aim of this study is to analyse the most well-known and accepted models to provide a comprehensive understanding of their impacts toward the adoption of mobile banking applications. Furthermore, this study aims also at exploring the most effected factors that have been used to influence the adoption behaviour intention of mobile banking applications. As a result of this survey study, some critical recommendations were stated

A review of Augmented Reality and its application in context aware library system <=SEP=> Augmented Reality has revolutionized the way of looking at actuality. The colossal developments in this area have led to visualizations beyond desktop. Unreal objects can be augmented on real surfaces. Augmented Reality has converged the knowledge of computer vision, virtual reality, image-processing, human-to-computer interaction and more such areas. It has found applications in various expanses like Games, Entertainment, Military, Navigation and many more. One such application could be in Library Management System. Earlier systems for book tracking involved immobile computers that only had the shelf numbers nested with book id to locate a book. A borrower needed to ask the Librarian/support staff to look up the shelf number from the system so as to find a book or simply do it manually by himself by searching each shelf. The application of Augmented Reality in Library Administration is useful in automating the proximity location tracking of a book and providing alternatives to the borrower in the books context. The borrower is navigated through the library till he/she reaches the shelf where the book is kept. The spine of the book serves as the index of the required book and contextual information is augmented once the book is located. Thus Augmented Reality can prove immensely helpful for Library Administration.

PCAS: Pruning Channels with Attention Statistics for Deep Network Compression <=SEP=> Compression techniques for deep neural networks are important for implementing them on small embedded devices. In particular, channel-pruning is a useful technique for realizing compact networks. However, many conventional methods require manual setting of compression ratios in each layer. It is difficult to analyze the relationships between all layers, especially for deeper models. To address these issues, we propose a simple channel-pruning technique based on attention statistics that enables to evaluate the importance of channels. We improved the method by means of a criterion for automatic channel selection, using a single compression ratio for the entire model in place of per-layer model analysis. The proposed approach achieved superior performance over conventional methods with respect to accuracy and the computational costs for various models and datasets. We provide analysis results for behavior of the proposed criterion on different datasets to demonstrate its favorable properties for channel pruning.

A new force-feedback arm exoskeleton for haptic interaction in virtual environments <=SEP=> The paper presents the mechanical design of the L-EXOS, a new exoskeleton for the human arm. The exoskeleton is a tendon driven wearable haptic interface with 5 dof 4 actuated ones, and is characterized by a workspace very close to the one of the human arm. The design has been optimized to obtain a solution with reduced mass and high stiffness, by employing special mechanical components and carbon fiber structural parts. The devised exoskeleton is very effective for simulating the touch by hand of large objects or the manipulation within the whole workspace of the arm. The main features of the first prototype that has been developed at PERCRO are presented, together with an indication of the achieved and tested performance.

Issues and Challenges in Scrum Implementation <=SEP=> The aim of this research paper is to bring the challenges and issues in Scrum implementation to light and proposing solutions for these. For this, a survey is conducted in two companies named Digital Prodigy Limited (DPL) and Bentley Systems Pakistan. Participants include experienced and inexperienced scrum personals from both companies. The analysis of the survey results exposed several issues that affect scrum implementation directly or indirectly and resulting in violation of Scrum rules. Quality items pileup, module integration issues, code quality, disruption in team work, mature vs. immature scrum, sprint duration, lack of Scrum training , release process, backlog management, no technical practices, multiple teams, metrics, risk management, documentation and over idealistic are some examples of these issues. During this study, it has been observed that proper training of Scrum can eliminate half of the issues such as, disruption in team work, immature Scrum, sprint duration and backlog management. At the end, suggestions to address these issues are also provided.

Investigating the global trend of RF power amplifiers with the arrival of 5G <=SEP=> To satisfy the continuously increasing demand for high data rates and mobility required by new wireless applications, the 5G has gained much attention recently. Radio frequency power amplifiers (RF-PAs), as one of critical components of 5G transmitter system, are becoming a hot issue. In this paper, the statistical analysis on RF PA papers shows the research on RF-PAs in Asia-Pacific and cooperation between different affiliations and countries are gradually becoming more prominent, showing the globalization trend of RF PA research and the 5G technologies. The decreased research cycle of RF PA shows the processes of research on PA and 5G technologies are speeding up. Some promising RF-PA technologies for 5G wireless communication system are also been discussed.

Grade Prediction with Temporal Course-wise Influence <=SEP=> There is a critical need to develop new educational technology applications that analyze the data collected by universities to ensure that students graduate in a timely fashion (4 to 6 years); and they are well prepared for jobs in their respective fields of study. In this paper, we present a novel approach for analyzing historical educational records from a large, public university to perform next-term grade prediction; i.e., to estimate the grades that a student will get in a course that he/she will enroll in the next term. Accurate next-term grade prediction holds the promise for better student degree planning, personalized advising and automated interventions to ensure that students stay on track in their chosen degree program and graduate on time. We present a factorization-based approach called Matrix Factorization with Temporal Course-wise Influence that incorporates course-wise influence effects and temporal effects for grade prediction. In this model, students and courses are represented in a latent “knowledge” space. The grade of a student on a course is modeled as the similarity of their latent representation in the “knowledge” space. Course-wise influence is considered as an additional factor in the grade prediction. Our experimental results show that the proposed method outperforms several baseline approaches and infer meaningful patterns between pairs of courses within academic programs.

The fragment assembly string graph <=SEP=> We present a concept and formalism, the string graph, which represents all that is inferable about a DNA sequence from a collection of shotgun sequencing reads collected from it. We give time and space efficient algorithms for constructing a string graph given the collection of overlaps between the reads and, in particular, present a novel linear expected time algorithm for transitive reduction in this context. The result demonstrates that the decomposition of reads into kmers employed in the de Bruijn graph approach described earlier is not essential, and exposes its close connection to the unitig approach we developed at Celera. This paper is a preliminary piece giving the basic algorithm and results that demonstrate the efficiency and scalability of the method. These ideas are being used to build a next-generation whole genome assembler called BOA (Berkeley Open Assembler) that will easily scale to mammalian genomes.

Fusion of laser and monocular camera data in object grid maps for vehicle environment perception <=SEP=> Occupancy grid maps provide a reliable vehicle environmental model and usually process data from range finding sensors. Object grid maps additionally contain information about the classes of objects, which is crucial for applications like autonomous driving. Unfortunately, they lack the precision of occupancy grid maps, since they mostly process classification results from camera data by projecting the corresponding images onto the ground plane. This paper proposes a modular framework to create precise object grid maps. The presented algorithm creates classical occupancy grid maps and object grid maps. In a combination step, it transforms both maps into the same frame of discernment based on the Dempster-Shafer theory of evidence. This allows fusing the maps to one object grid map, which contains valuable object information and at the same time benefits from the precision of the occupancy grid map.

Semantic Representation <=SEP=> In recent years, there has been renewed interest in the NLP community in genuine language understanding and dialogue. Thus the long-standing issue of how the semantic content of language should be represented is reentering the communal discussion. This paper provides a brief “opinionated survey” of broadcoverage semantic representation (SR). It suggests multiple desiderata for such representations, and then outlines more than a dozen approaches to SR–some longstanding, and some more recent, providing quick characterizations, pros, cons, and some comments on imple-

A 0.002-mm$^{2}$  6.4-mW 10-Gb/s Full-Rate Direct DFE Receiver With 59.6% Horizontal Eye Opening Under 23.3-dB Channel Loss at Nyquist Frequency <=SEP=> This paper reports a full-rate direct decision-feedback-equalization (DFE) receiver with circuit techniques to widen the data eye opening with competitive power and area efficiencies. Specifically, a current-reuse active-inductor (AI) linear equalizer is merged into a clocked-one-tap DFE core for joint-elimination of pre-cursor and long-tail post-cursors. Unlike the passive-inductor designs that are bulky and untunable, the AI linear equalizer offers orthogonally tunable low- and high-frequency de-emphasis. The clocked-one-tap DFE resolves the first post-cursor via return-to-zero feedback data patterns for sharper data transition (i.e., horizontal eye opening), and is followed by a D-flip-flop slicer to maximize the data height (i.e., vertical eye opening). A 10-Gb/s DFE receiver was fabricated in 65-nm CMOS. Measured over an 84-cm printed circuit board differential trace with 23.3-dB channel loss at Nyquist frequency (5 GHz), the achieved figure-of-merit is 0.027 pJ/bit/dB (power consumption/date rate/channel loss). At 10-12 bit error rate under 27-1 pseudorandom binary sequence, the horizontal and vertical eye opening are 59.6% and 189.3 mV, respectively. The die size is 0.002 mm2.

A Survey on TCP Congestion Control Schemes in Guided Media and Unguided Media Communication <=SEP=> Transmission Control Protocol (TCP) is a widely used end-to-end transport protocol in the Internet. This End to End delivery in wired (Guided) as well as wireless (Unguided) network improves the performance of transport layer or Transmission control Protocol (TCP) characterized by negligible random packet losses. This paper represents tentative study of TCP congestion control principles and mechanisms. Modern implementations of TCP hold four intertwined algorithms: slow start, congestion avoidance, fast retransmits, and fast recovery in addition to the standard algorithms used in common implementations of TCP. This paper describes the performance characteristics of four representative TCP schemes, namely TCP Tahoe, Reno, New Reno and Vegas under the condition of congested link capacities for wired network as well as wireless network.

Computer-aided detection/diagnosis of breast cancer in mammography and ultrasound: a review. <=SEP=> Breast cancer is the most common form of cancer among women worldwide. Early detection of breast cancer can increase treatment options and patients' survivability. Mammography is the gold standard for breast imaging and cancer detection. However, due to some limitations of this modality such as low sensitivity especially in dense breasts, other modalities like ultrasound and magnetic resonance imaging are often suggested to achieve additional information. Recently, computer-aided detection or diagnosis (CAD) systems have been developed to help radiologists in order to increase diagnosis accuracy. Generally, a CAD system consists of four stages: (a) preprocessing, (b) segmentation of regions of interest, (c) feature extraction and selection, and finally (d) classification. This paper presents the approaches which are applied to develop CAD systems on mammography and ultrasound images. The performance evaluation metrics of CAD systems are also reviewed.

Packet Injection Attack and Its Defense in Software-Defined Networks <=SEP=> Software-defined networks (SDNs) are novel networking architectures that decouple the network control and forwarding functions from the data plane. Unlike traditional networking, the control logic of SDNs is implemented in a logically centralized controller which provides a global network view and open programming interface to the applications. While SDNs have become a hot topic among both academia and industry in recent years, little attention has been paid on the security aspect. In this paper, we introduce a novel attack, namely, packet injection attack, in SDNs. By maliciously injecting manipulated packets into SDNs, attackers can affect the services and networking applications in the control plane, and largely consume the resources in the data plane. The consequences could be the disruption of applications built on the top of the topology manager service and rest API, as well as a huge consumption of network resources, such as the bandwidth of the OpenFlow channel. To defend against the packet injection attack, we present PacketChecker, a lightweight extension module on SDN controllers to effectively detect and mitigate the flooding of falsified packets. We implement a prototype of PacketChecker in floodlight controller and conduct experiments to evaluate the efficiency of the defense mechanism. The evaluation shows that the PacketChecker module can effectively mitigate the attack with a minor overhead to the SDN controller.

ULA-OP: an advanced open platform for ultrasound research <=SEP=> The experimental test of novel ultrasound (US) investigation methods can be made difficult by the lack of flexibility of commercial US machines. In the best options, these only provide beamformed radiofrequency or demodulated echo-signals for acquisition by an external PC. More flexibility is achieved in high-level research platforms, but these are typically characterized by high cost and large size. This paper presents a powerful but portable US system, specifically developed for research purposes. The system design has been based on high-level commercial integrated circuits to obtain the maximum flexibility and wide data access with minimum of electronics. Preliminary applications involving nonstandard imaging transmit/receive strategies and simultaneous B-mode and multigate spectral Doppler mode are discussed.

Improved Winding Proposal for Wound Rotor Resolver Using Genetic Algorithm and Winding Function Approach <=SEP=> Among position sensors, resolvers are superior from reliability point of view. However, obtaining lower output voltage harmonics and simple manufacturing process is a challenge in the design and optimization of resolvers. In this paper, a metaheuristic optimization algorithm is used to minimize total harmonic distortion of the output signals, and consequently the estimated position error in concentrated coil wound field resolvers. Meanwhile, to minimize total coil numbers, manufacturing costs, and complexity of the winding process, modified objective function and constraints are proposed. In this way, a modified winding function method is employed for performance analysis of the axial flux resolver. Then, the merits of the optimized winding configuration with respect to fractional slot concentrated windings are shown. The results of the proposed configurations are verified with a three-dimensional time-stepping finite-element method. Finally, the prototype of the studied axial flux resolver is constructed and tested. Good agreement is obtained between simulation and experimental results, confirming the effectiveness of the optimization process.

Lens design as multi-objective optimisation <=SEP=> This paper demonstrates the computational advantages of a multiobjective framework that can overcome the generic and domain-related challenges in optical system design and optimisation. Non-dominated sorting genetic algorithms-II (Deb, 2003) is employed in this study. The optical systems studied in this paper are Cooke triplets, Petzval lens systems and achromatic doublets. We report the results of four studies. In the first study, we optimise the optical systems using computationally efficient image quality objective functions. Our approach uses only two paraxial rays to estimate the objective functions and thus improves the computational efficiency. This timesaving measure can partially compensate for the typically enormous number of fitness function evaluations required in evolutionary algorithms. The reduction in reliability due to the computations from a single ray pair is compensated by the availability of multiple objective functions that help us to navigate to the optima. In the second study, hybridisation of evolutionary and gradient-based approaches and scaling techniques are employed to speed up convergence and enforce the constraints. The third study shows how recent developments in optical system design research can be better integrated in a multi-objective framework. The fourth study optimises an achromatic doublet with suitable constraints applied to the thicknesses and image distance.

The Relationship Between Health and Growth : When Lucas <=SEP=> This paper revisits the relationship between health and growth in light of modern endogenous growth theory. We propose a unified framework that encompasses the growth effects of both the rate of improvement of health and the level of health. Based on cross-country regressions over the period 1960-2000, where we instrument for both variables, we find that a higher initial level and a higher rate of improvement in life expectancy both have a significantly positive impact on per capita GDP growth. Then, restricting attention to OECD countries, we find supportive evidence that only the reduction in mortality below age forty generates productivity gains, which in turn may explain why the positive correlation between health and growth in cross-OECD country regressions appears to have weakened since 1960. JEL classification: E0, I10, O10, O15

Tool for 3D Gazebo Map Construction from Arbitrary Images and Laser Scans <=SEP=> Algorithms for mobile robots, such as navigation, mapping, and SLAM, require proper modelling of environment. Our paper presents an automatic tool that allows creating a realistic 3D-landscape in Gazebo simulation, which is based on the real sensor-based experimental results. The tool provides an occupancy grid map automatic filtering and import to Gazebo framework as a heightmap and enables to configure the settings for created simulation environment. In addition, the tool is capable to create a 3D Gazebo map from any arbitrary image.

Multi-View Stereo Revisited <=SEP=> We present an extremely simple yet robust multi-view stereo algorithm and analyze its properties. The algorithm first computes individual depth maps using a window-based voting approach that returns only good matches. The depth maps are then merged into a single mesh using a straightforward volumetric approach. We show results for several datasets, showing accuracy comparable to the best of the current state of the art techniques and rivaling more complex algorithms.

SPARSKIT: a basic tool kit for sparse matrix computations - Version 2 <=SEP=> This paper presents the main features of a tool package for manipulating and working with sparse matrices. One of the goals of the package is to provide basic tools to facilitate exchange of software and data between researchers in sparse matrix computations. Our starting point is the Harwell/Boeing collection of matrices for which we provide a number of tools. Among other things the package provides programs for converting data structures, printing simple statistics on a matrix, plotting a matrix profile, performing basic linear algebra operations with sparse matrices and so on. *RIACS, Mail Stop 230-5, NASA Ames Research Center, Moffett Field, CA 94035. This work was supported in part by the NAS Systems Division, via Cooperative Agreement NCC 2-387 between NASA and the University Space Research Association (USRA) and in part by the Department of Energy under grant DE-FG02-85ER25001.