Robust explicit MPC design under finite precision arithmetic

We propose a design methodology for explicit Model Predictive Control (MPC) that guarantees hard constraint satisfaction in the presence of finite precision arithmetic errors. The implementation of complex digital control techniques, like MPC, is becoming increasingly adopted in embedded systems, where reduced precision computation techniques are embraced to achieve fast execution and low power consumption. However, in a low precision implementation, constraint satisfaction is not guaranteed if infinite precision is assumed during the algorithm design. To enforce constraint satisfaction under numerical errors, we use forward error analysis to compute an error bound on the output of the embedded controller. We treat this error as a state disturbance and use this to inform the design of a constraint-tightening robust controller. Benchmarks with a classical control problem, namely an inverted pendulum, show how it is possible to guarantee, by design, constraint satisfaction for embedded systems featuring low precision, fixed-point computations

Universal and Robust Distributed Network Codes

Random linear network codes can be designed and implemented in a distributed manner, with low computational complexity. However, these codes are classically implemented over finite fields whose size depends on some global network parameters (size of the network, the number of sinks) that may not be known prior to code design. Also, if new nodes join the entire network code may have to be redesigned. In this work, we present the first universal and robust distributed linear network coding schemes. Our schemes are universal since they are independent of all network parameters. They are robust since if nodes join or leave, the remaining nodes do not need to change their coding operations and the receivers can still decode. They are distributed since nodes need only have topological information about the part of the network upstream of them, which can be naturally streamed as part of the communication protocol. We present both probabilistic and deterministic schemes that are all asymptotically rate-optimal in the coding block-length, and have guarantees of correctness. Our probabilistic designs are computationally efficient, with order-optimal complexity. Our deterministic designs guarantee zero error decoding, albeit via codes with high computational complexity in general. Our coding schemes are based on network codes over ``scalable fields". Instead of choosing coding coefficients from one field at every node, each node uses linear coding operations over an ``effective field-size" that depends on the node's distance from the source node. The analysis of our schemes requires technical tools that may be of independent interest. In particular, we generalize the Schwartz-Zippel lemma by proving a non-uniform version, wherein variables are chosen from sets of possibly different sizes. We also provide a novel robust distributed algorithm to assign unique IDs to network nodes.Comment: 12 pages, 7 figures, 1 table, under submission to INFOCOM 201

Performance comparison of point and spatial access methods

In the past few years a large number of multidimensional point access methods, also called multiattribute index structures, has been suggested, all of them claiming good performance. Since no performance comparison of these structures under arbitrary (strongly correlated nonuniform, short "ugly") data distributions and under various types of queries has been performed, database researchers and designers were hesitant to use any of these new point access methods. As shown in a recent paper, such point access methods are not only important in traditional database applications. In new applications such as CAD/CIM and geographic or environmental information systems, access methods for spatial objects are needed. As recently shown such access methods are based on point access methods in terms of functionality and performance. Our performance comparison naturally consists of two parts. In part I we w i l l compare multidimensional point access methods, whereas in part I I spatial access methods for rectangles will be compared. In part I we present a survey and classification of existing point access methods. Then we carefully select the following four methods for implementation and performance comparison under seven different data files (distributions) and various types of queries: the 2-level grid file, the BANG file, the hB-tree and a new scheme, called the BUDDY hash tree. We were surprised to see one method to be the clear winner which was the BUDDY hash tree. It exhibits an at least 20 % better average performance than its competitors and is robust under ugly data and queries. In part I I we compare spatial access methods for rectangles. After presenting a survey and classification of existing spatial access methods we carefully selected the following four methods for implementation and performance comparison under six different data files (distributions) and various types of queries: the R-tree, the BANG file, PLOP hashing and the BUDDY hash tree. The result presented two winners: the BANG file and the BUDDY hash tree. This comparison is a first step towards a standardized testbed or benchmark. We offer our data and query files to each designer of a new point or spatial access method such that he can run his implementation in our testbed

Geometry-based Detection of Flash Worms

While it takes traditional internet worms hours to infect all the vulnerable hosts on the Internet, a flash worm takes seconds. Because of the rapid rate with which flash worms spread, the existing worm defense mechanisms cannot respond fast enough to detect and stop the flash worm infections. In this project, we propose a geometric-based detection mechanism that can detect the spread of flash worms in a short period of time. We tested the mechanism on various simulated flash worm traffics consisting of more than 10,000 nodes. In addition to testing on flash worm traffics, we also tested the mechanism on non-flash worm traffics to see if our detection mechanism produces false alarms. In order to efficiently analyze bulks of various network traffics, we implemented an application that can be used to convert the network traffic data into graphical notations. Using the application, the analysis can be done graphically as it displays the large amount of network relationships as tree structures

Consistent, Durable, and Safe Memory Management for Byte-addressable Non Volatile Main Memory

This paper presents three building blocks for enabling the efficient and safe design of persistent data stores for emerging non-volatile memory technologies. Taking the fullest advantage of the low latency and high bandwidths of emerging memories such as phase change memory (PCM), spin torque, and memristor necessitates a serious look at placing these persistent storage technologies on the main memory bus. Doing so, however, introduces critical challenges of not sacrificing the data reliability and consistency that users demand from storage. This paper introduces techniques for (1) robust wear-aware memory allocation, (2) preventing of erroneous writes, and (3) consistency-preserving updates that are cacheefficient. We show through our evaluation that these techniques are efficiently implementable and effective by demonstrating a B+-tree implementation modified to make full use of our toolkit.

Improved test quality using robust unique input/output circuit sequences (UIOCs)

In finite state machine (FSM) based testing, the problem of fault masking in the unique input/ output (UIO) sequence may degrade the test performance of the UIO based methods. This paper investigates this problem and proposes the use of a new type of unique input/output circuit (UIOC) sequence for state verification, which may help to overcome the drawbacks that exist in the UIO based techniques. When constructing a UIOC, overlap and internal state observation schema are used to increase the robustness of a test sequence. Test quality is compared by using the forward UIO method (F-method), the backward UIO method (B-method) and the UIOC method (C-method) separately. Robustness of the UIOCs constructed by the algorithm given in this paper is also compared with those constructed by the algorithm given previously. Experimental results suggest that the C-method outperforms the F- and the B-methods and the UIOCs constructed by the Algorithm given in this paper, are more robust than those constructed by other proposed algorithms