30,672 research outputs found

    Robotic ubiquitous cognitive ecology for smart homes

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    Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work

    Towards an HLA Run-time Infrastructure with Hard Real-time Capabilities

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    Our work takes place in the context of the HLA standard and its application in real-time systems context. The HLA standard is inadequate for taking into consideration the different constraints involved in real-time computer systems. Many works have been invested in order to providing real-time capabilities to Run Time Infrastructures (RTI) to run real time simulation. Most of these initiatives focus on major issues including QoS guarantee, Worst Case Transit Time (WCTT) knowledge and scheduling services provided by the underlying operating systems. Even if our ultimate objective is to achieve real-time capabilities for distributed HLA federations executions, this paper describes a preliminary work focusing on achieving hard real-time properties for HLA federations running on a single computer under Linux operating systems. Our paper proposes a novel global bottom up approach for designing real-time Run time Infrastructures and a formal model for validation of uni processor to (then) distributed real-time simulation with CERTI

    Managing Uncertainty: A Case for Probabilistic Grid Scheduling

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    The Grid technology is evolving into a global, service-orientated architecture, a universal platform for delivering future high demand computational services. Strong adoption of the Grid and the utility computing concept is leading to an increasing number of Grid installations running a wide range of applications of different size and complexity. In this paper we address the problem of elivering deadline/economy based scheduling in a heterogeneous application environment using statistical properties of job historical executions and its associated meta-data. This approach is motivated by a study of six-month computational load generated by Grid applications in a multi-purpose Grid cluster serving a community of twenty e-Science projects. The observed job statistics, resource utilisation and user behaviour is discussed in the context of management approaches and models most suitable for supporting a probabilistic and autonomous scheduling architecture

    Predicting Scheduling Failures in the Cloud

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    Cloud Computing has emerged as a key technology to deliver and manage computing, platform, and software services over the Internet. Task scheduling algorithms play an important role in the efficiency of cloud computing services as they aim to reduce the turnaround time of tasks and improve resource utilization. Several task scheduling algorithms have been proposed in the literature for cloud computing systems, the majority relying on the computational complexity of tasks and the distribution of resources. However, several tasks scheduled following these algorithms still fail because of unforeseen changes in the cloud environments. In this paper, using tasks execution and resource utilization data extracted from the execution traces of real world applications at Google, we explore the possibility of predicting the scheduling outcome of a task using statistical models. If we can successfully predict tasks failures, we may be able to reduce the execution time of jobs by rescheduling failed tasks earlier (i.e., before their actual failing time). Our results show that statistical models can predict task failures with a precision up to 97.4%, and a recall up to 96.2%. We simulate the potential benefits of such predictions using the tool kit GloudSim and found that they can improve the number of finished tasks by up to 40%. We also perform a case study using the Hadoop framework of Amazon Elastic MapReduce (EMR) and the jobs of a gene expression correlations analysis study from breast cancer research. We find that when extending the scheduler of Hadoop with our predictive models, the percentage of failed jobs can be reduced by up to 45%, with an overhead of less than 5 minutes

    Model-driven Scheduling for Distributed Stream Processing Systems

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    Distributed Stream Processing frameworks are being commonly used with the evolution of Internet of Things(IoT). These frameworks are designed to adapt to the dynamic input message rate by scaling in/out.Apache Storm, originally developed by Twitter is a widely used stream processing engine while others includes Flink, Spark streaming. For running the streaming applications successfully there is need to know the optimal resource requirement, as over-estimation of resources adds extra cost.So we need some strategy to come up with the optimal resource requirement for a given streaming application. In this article, we propose a model-driven approach for scheduling streaming applications that effectively utilizes a priori knowledge of the applications to provide predictable scheduling behavior. Specifically, we use application performance models to offer reliable estimates of the resource allocation required. Further, this intuition also drives resource mapping, and helps narrow the estimated and actual dataflow performance and resource utilization. Together, this model-driven scheduling approach gives a predictable application performance and resource utilization behavior for executing a given DSPS application at a target input stream rate on distributed resources.Comment: 54 page

    Power efficient job scheduling by predicting the impact of processor manufacturing variability

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    Modern CPUs suffer from performance and power consumption variability due to the manufacturing process. As a result, systems that do not consider such variability caused by manufacturing issues lead to performance degradations and wasted power. In order to avoid such negative impact, users and system administrators must actively counteract any manufacturing variability. In this work we show that parallel systems benefit from taking into account the consequences of manufacturing variability when making scheduling decisions at the job scheduler level. We also show that it is possible to predict the impact of this variability on specific applications by using variability-aware power prediction models. Based on these power models, we propose two job scheduling policies that consider the effects of manufacturing variability for each application and that ensure that power consumption stays under a system-wide power budget. We evaluate our policies under different power budgets and traffic scenarios, consisting of both single- and multi-node parallel applications, utilizing up to 4096 cores in total. We demonstrate that they decrease job turnaround time, compared to contemporary scheduling policies used on production clusters, up to 31% while saving up to 5.5% energy.Postprint (author's final draft
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