Agent-based hierarchical approach for executing bag-of-tasks in clouds

Numerous unrelated, independent (no inter-task communication) tasks called “bag-oftasks”(BoTs) compared with message passing applications can be highly parallelised andexecuted in any acceptable order. A common practice when executing bag-of-tasks applications(BoT) is to exploit the master-slave topology. Cloud environments offer some featuresthat facilitate executing BoT applications. One of the approaches to control cloud resourcesis to use agents that can flexibly act in a dynamic environment. Given these assumptions wedesigned a combination of these approaches, which can be classified as: a distributed, hierarchicalsolution to the issue of scalable executing of bag-of-tasks. The concept of our systemrelates to a project that is focused on processing huge quantities of data incoming from anetwork of sensors by the Internet. Our aim is to create a mechanism for processing such dataas a system which executes jobs while exploiting load balancing for cloud resources using,e.g., Eucalyptus. The idea is to create a hybrid architecture which takes advantage of somecentralized parts of the system and full distributedness in other parts. On the other handwe balance dependencies between the system components using a hierarchic master-slavestructure

Considering Human Aspects on Strategies for Designing and Managing Distributed Human Computation

A human computation system can be viewed as a distributed system in which the processors are humans, called workers. Such systems harness the cognitive power of a group of workers connected to the Internet to execute relatively simple tasks, whose solutions, once grouped, solve a problem that systems equipped with only machines could not solve satisfactorily. Examples of such systems are Amazon Mechanical Turk and the Zooniverse platform. A human computation application comprises a group of tasks, each of them can be performed by one worker. Tasks might have dependencies among each other. In this study, we propose a theoretical framework to analyze such type of application from a distributed systems point of view. Our framework is established on three dimensions that represent different perspectives in which human computation applications can be approached: quality-of-service requirements, design and management strategies, and human aspects. By using this framework, we review human computation in the perspective of programmers seeking to improve the design of human computation applications and managers seeking to increase the effectiveness of human computation infrastructures in running such applications. In doing so, besides integrating and organizing what has been done in this direction, we also put into perspective the fact that the human aspects of the workers in such systems introduce new challenges in terms of, for example, task assignment, dependency management, and fault prevention and tolerance. We discuss how they are related to distributed systems and other areas of knowledge.Comment: 3 figures, 1 tabl

Parallel Differential Evolution approach for Cloud workflow placements under simultaneous optimization of multiple objectives

International audienceThe recent rapid expansion of Cloud computing facilities triggers an attendant challenge to facility providers and users for methods for optimal placement of workflows on distributed resources, under the often-contradictory impulses of minimizing makespan, energy consumption, and other metrics. Evolutionary Optimization techniques that from theoretical principles are guaranteed to provide globally optimum solutions, are among the most powerful tools to achieve such optimal placements. Multi-Objective Evolutionary algorithms by design work upon contradictory objectives, gradually evolving across generations towards a converged Pareto front representing optimal decision variables – in this case the mapping of tasks to resources on clusters. However the computation time taken by such algorithms for convergence makes them prohibitive for real time placements because of the adverse impact on makespan. This work describes parallelization, on the same cluster, of a Multi-Objective Differential Evolution method (NSDE-2) for optimization of workflow placement, and the attendant speedups that bring the implicit accuracy of the method into the realm of practical utility. Experimental validation is performed on a real-life testbed using diverse Cloud traces. The solutions under different scheduling policies demonstrate significant reduction in energy consumption with some improvement in makespan

A Framework for Approximate Optimization of BoT Application Deployment in Hybrid Cloud Environment

We adopt a systematic approach to investigate the efficiency of near-optimal deployment of large-scale CPU-intensive Bag-of-Task applications running on cloud resources with the non-proportional cost to performance ratios. Our analytical solutions perform in both known and unknown running time of the given application. It tries to optimize users' utility by choosing the most desirable tradeoff between the make-span and the total incurred expense. We propose a schema to provide a near-optimal deployment of BoT application regarding users' preferences. Our approach is to provide user with a set of Pareto-optimal solutions, and then she may select one of the possible scheduling points based on her internal utility function. Our framework can cope with uncertainty in the tasks' execution time using two methods, too. First, an estimation method based on a Monte Carlo sampling called AA algorithm is presented. It uses the minimum possible number of sampling to predict the average task running time. Second, assuming that we have access to some code analyzer, code profiling or estimation tools, a hybrid method to evaluate the accuracy of each estimation tool in certain interval times for improving resource allocation decision has been presented. We propose approximate deployment strategies that run on hybrid cloud. In essence, proposed strategies first determine either an estimated or an exact optimal schema based on the information provided from users' side and environmental parameters. Then, we exploit dynamic methods to assign tasks to resources to reach an optimal schema as close as possible by using two methods. A fast yet simple method based on First Fit Decreasing algorithm, and a more complex approach based on the approximation solution of the transformed problem into a subset sum problem. Extensive experiment results conducted on a hybrid cloud platform confirm that our framework can deliver a near optimal solution respecting user's utility function

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved