A Tablet-Based Assessment of Rhythmic Ability.

The exponential rise in use of mobile consumer electronics has presented a great potential for research to be conducted remotely, with participants numbering several orders of magnitude greater than a typical research paradigm. Here, we attempt to demonstrate the validity and reliability of using a consumer game-engine to create software presented on a mobile tablet to assess sensorimotor synchronization, a proxy of rhythmic ability. Our goal was to ascertain whether previously observed research results can be replicated, rather than assess whether a mobile tablet achieves comparable performance to a desktop computer. To achieve this, younger (aged 18-35 years) and older (aged 60-80 years) adult musicians and non-musicians were recruited to play a custom-designed sensorimotor synchronization assessment on a mobile tablet in a controlled laboratory environment. To assess reliability, participants performed the assessment twice, separated by a week, and an intra-class correlation coefficient (ICC) was calculated. Results supported the validity of this approach to assessing rhythmic abilities by replicating previously observed results. Specifically, musicians performed better than non-musicians, and younger adults performed better than older adults. Participants also performed best when the tempo was in the range of previously-identified preferred tempos, when the stimuli included both audio and visual information, and when synchronizing on-beat compared to off-beat or continuation (self-paced) synchronization. Additionally, high ICC values (>0.75) suggested excellent test-retest reliability. Together, these results support the notion that consumer electronics running software built with a game engine may serve as a valuable resource for remote, mobile-based data collection of rhythmic abilities

A component-oriented programming framework for developing embedded mobile robot software using PECOS model

A practical framework for component-based software engineering of embedded real-time systems, particularly for autonomous mobile robot embedded software development using PECOS component model is proposed The main features of this framework are: (1) use graphical representation for components definition and composition; (2) target C language for optimal code generation with small micro-controller; and (3) does not requires run-time support except for real-time kernel. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded systems

A Compositional Semantics for Stochastic Reo Connectors

In this paper we present a compositional semantics for the channel-based coordination language Reo which enables the analysis of quality of service (QoS) properties of service compositions. For this purpose, we annotate Reo channels with stochastic delay rates and explicitly model data-arrival rates at the boundary of a connector, to capture its interaction with the services that comprise its environment. We propose Stochastic Reo automata as an extension of Reo automata, in order to compositionally derive a QoS-aware semantics for Reo. We further present a translation of Stochastic Reo automata to Continuous-Time Markov Chains (CTMCs). This translation enables us to use third-party CTMC verification tools to do an end-to-end performance analysis of service compositions.Comment: In Proceedings FOCLASA 2010, arXiv:1007.499

Cooperative Adaptive Control for Cloud-Based Robotics

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.Comment: ICRA 201

SCOPE: Scalable Composite Optimization for Learning on Spark

Many machine learning models, such as logistic regression~(LR) and support vector machine~(SVM), can be formulated as composite optimization problems. Recently, many distributed stochastic optimization~(DSO) methods have been proposed to solve the large-scale composite optimization problems, which have shown better performance than traditional batch methods. However, most of these DSO methods are not scalable enough. In this paper, we propose a novel DSO method, called \underline{s}calable \underline{c}omposite \underline{op}timization for l\underline{e}arning~({SCOPE}), and implement it on the fault-tolerant distributed platform \mbox{Spark}. SCOPE is both computation-efficient and communication-efficient. Theoretical analysis shows that SCOPE is convergent with linear convergence rate when the objective function is convex. Furthermore, empirical results on real datasets show that SCOPE can outperform other state-of-the-art distributed learning methods on Spark, including both batch learning methods and DSO methods

Maintaining consistency in distributed systems

In systems designed as assemblies of independently developed components, concurrent access to data or data structures normally arises within individual programs, and is controlled using mutual exclusion constructs, such as semaphores and monitors. Where data is persistent and/or sets of operation are related to one another, transactions or linearizability may be more appropriate. Systems that incorporate cooperative styles of distributed execution often replicate or distribute data within groups of components. In these cases, group oriented consistency properties must be maintained, and tools based on the virtual synchrony execution model greatly simplify the task confronting an application developer. All three styles of distributed computing are likely to be seen in future systems - often, within the same application. This leads us to propose an integrated approach that permits applications that use virtual synchrony with concurrent objects that respect a linearizability constraint, and vice versa. Transactional subsystems are treated as a special case of linearizability

Wireless Software Synchronization of Multiple Distributed Cameras

We present a method for precisely time-synchronizing the capture of image sequences from a collection of smartphone cameras connected over WiFi. Our method is entirely software-based, has only modest hardware requirements, and achieves an accuracy of less than 250 microseconds on unmodified commodity hardware. It does not use image content and synchronizes cameras prior to capture. The algorithm operates in two stages. In the first stage, we designate one device as the leader and synchronize each client device's clock to it by estimating network delay. Once clocks are synchronized, the second stage initiates continuous image streaming, estimates the relative phase of image timestamps between each client and the leader, and shifts the streams into alignment. We quantitatively validate our results on a multi-camera rig imaging a high-precision LED array and qualitatively demonstrate significant improvements to multi-view stereo depth estimation and stitching of dynamic scenes. We release as open source 'libsoftwaresync', an Android implementation of our system, to inspire new types of collective capture applications.Comment: Main: 9 pages, 10 figures. Supplemental: 3 pages, 5 figure