54,886 research outputs found
Robotic ubiquitous cognitive ecology for smart homes
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
Preemptive Thread Block Scheduling with Online Structural Runtime Prediction for Concurrent GPGPU Kernels
Recent NVIDIA Graphics Processing Units (GPUs) can execute multiple kernels
concurrently. On these GPUs, the thread block scheduler (TBS) uses the FIFO
policy to schedule their thread blocks. We show that FIFO leaves performance to
chance, resulting in significant loss of performance and fairness. To improve
performance and fairness, we propose use of the preemptive Shortest Remaining
Time First (SRTF) policy instead. Although SRTF requires an estimate of runtime
of GPU kernels, we show that such an estimate of the runtime can be easily
obtained using online profiling and exploiting a simple observation on GPU
kernels' grid structure. Specifically, we propose a novel Structural Runtime
Predictor. Using a simple Staircase model of GPU kernel execution, we show that
the runtime of a kernel can be predicted by profiling only the first few thread
blocks. We evaluate an online predictor based on this model on benchmarks from
ERCBench, and find that it can estimate the actual runtime reasonably well
after the execution of only a single thread block. Next, we design a thread
block scheduler that is both concurrent kernel-aware and uses this predictor.
We implement the SRTF policy and evaluate it on two-program workloads from
ERCBench. SRTF improves STP by 1.18x and ANTT by 2.25x over FIFO. When compared
to MPMax, a state-of-the-art resource allocation policy for concurrent kernels,
SRTF improves STP by 1.16x and ANTT by 1.3x. To improve fairness, we also
propose SRTF/Adaptive which controls resource usage of concurrently executing
kernels to maximize fairness. SRTF/Adaptive improves STP by 1.12x, ANTT by
2.23x and Fairness by 2.95x compared to FIFO. Overall, our implementation of
SRTF achieves system throughput to within 12.64% of Shortest Job First (SJF, an
oracle optimal scheduling policy), bridging 49% of the gap between FIFO and
SJF.Comment: 14 pages, full pre-review version of PACT 2014 poste
Robust sound event detection in bioacoustic sensor networks
Bioacoustic sensors, sometimes known as autonomous recording units (ARUs),
can record sounds of wildlife over long periods of time in scalable and
minimally invasive ways. Deriving per-species abundance estimates from these
sensors requires detection, classification, and quantification of animal
vocalizations as individual acoustic events. Yet, variability in ambient noise,
both over time and across sensors, hinders the reliability of current automated
systems for sound event detection (SED), such as convolutional neural networks
(CNN) in the time-frequency domain. In this article, we develop, benchmark, and
combine several machine listening techniques to improve the generalizability of
SED models across heterogeneous acoustic environments. As a case study, we
consider the problem of detecting avian flight calls from a ten-hour recording
of nocturnal bird migration, recorded by a network of six ARUs in the presence
of heterogeneous background noise. Starting from a CNN yielding
state-of-the-art accuracy on this task, we introduce two noise adaptation
techniques, respectively integrating short-term (60 milliseconds) and long-term
(30 minutes) context. First, we apply per-channel energy normalization (PCEN)
in the time-frequency domain, which applies short-term automatic gain control
to every subband in the mel-frequency spectrogram. Secondly, we replace the
last dense layer in the network by a context-adaptive neural network (CA-NN)
layer. Combining them yields state-of-the-art results that are unmatched by
artificial data augmentation alone. We release a pre-trained version of our
best performing system under the name of BirdVoxDetect, a ready-to-use detector
of avian flight calls in field recordings.Comment: 32 pages, in English. Submitted to PLOS ONE journal in February 2019;
revised August 2019; published October 201
A Taxonomy of Workflow Management Systems for Grid Computing
With the advent of Grid and application technologies, scientists and
engineers are building more and more complex applications to manage and process
large data sets, and execute scientific experiments on distributed resources.
Such application scenarios require means for composing and executing complex
workflows. Therefore, many efforts have been made towards the development of
workflow management systems for Grid computing. In this paper, we propose a
taxonomy that characterizes and classifies various approaches for building and
executing workflows on Grids. We also survey several representative Grid
workflow systems developed by various projects world-wide to demonstrate the
comprehensiveness of the taxonomy. The taxonomy not only highlights the design
and engineering similarities and differences of state-of-the-art in Grid
workflow systems, but also identifies the areas that need further research.Comment: 29 pages, 15 figure
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