A Framework for Collaborative Multi-task, Multi-robot Missions

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners. This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. Using this approach, the designer is able to compensate for non-ideal behavior in the appropriate space using whatever control scheme they choose. This work presents a general design methodology, including analysis techniques for relevant control metrics like stability, responsiveness, and disturbance rejection, which were missing in prior work. Multiple tasks may be combined into a collaborative mission. The unified motion control architecture merges the control space components for each task into a concise federated system to facilitate analysis and implementation. The task coordination function defines task commands as functions of mission commands and state values to create explicit closed-loop collaboration. This work presents analysis techniques to understand the effects of cross-coupling tasks. This work analyzes system stability for the particular control architecture and identifies an explicit condition to ensure stable switching when reallocating robots. We are unaware of any other automated control architectures that address large-scale collaborative systems composed of task-oriented multi-robot coalitions where relative spatial control is critical to mission performance. This architecture and methodology have been validated in experiments and in simulations, repeating earlier work and exploring new scenarios and. It can perform large-scale, complex missions via a rigorous design methodology

Monad: Towards Cost-effective Specialization for Chiplet-based Spatial Accelerators

Advanced packaging offers a new design paradigm in the post-Moore era, where many small chiplets can be assembled into a large system. Based on heterogeneous integration, a chiplet-based accelerator can be highly specialized for a specific workload, demonstrating extreme efficiency and cost reduction. To fully leverage this potential, it is critical to explore both the architectural design space for individual chiplets and different integration options to assemble these chiplets, which have yet to be fully exploited by existing proposals. This paper proposes Monad, a cost-aware specialization approach for chiplet-based spatial accelerators that explores the tradeoffs between PPA and fabrication costs. To evaluate a specialized system, we introduce a modeling framework considering the non-uniformity in dataflow, pipelining, and communications when executing multiple tensor workloads on different chiplets. We propose to combine the architecture and integration design space by uniformly encoding the design aspects for both spaces and exploring them with a systematic ML-based approach. The experiments demonstrate that Monad can achieve an average of 16% and 30% EDP reduction compared with the state-of-the-art chiplet-based accelerators, Simba and NN-Baton, respectively.Comment: To be published in ICCAD 202

Jarateng: Making social-ends meet by embracing public living

The aim of this thesis is to investigate the importance of public space and to explore the concept of public living. The concept behind this thesis exploration is to look at the Soweto yard called a `jarata` and to look at various configurations of a Soweto yard. The reason behind choosing a Soweto yard is to conceptualise a public space which has the essence of the sociality of a Soweto yard. The investigation will begin by exploring the concept of social space and to gain an understanding of what a `social space` is in comparison to a physical place. Over the years people have defined and redefined spaces around them. In shared spaces people have used traditions and cultures to dictate the manner in which they use these spaces and have therefore created unwritten rules in these spaces. As people redefine these spaces from their designed or intended use, they essentially create social spaces. These social spaces are not the physical spaces but they happen in the physical spaces, and are driven by events which are part of people’s social and cultural patterns. So therefore the architecture of a place is defined by the social spaces which are the events, activities and the happenings in the place, which are centred on social patterns. Place is the visible space, and space is the hidden place. The architectural response is a public space where public living can be embraced more especially for the residents of Soweto and more specifically to the residents of Mofolo Central where my site is based. The space will be an enabling space which should allow the users the freedom to carry out their traditions and social patterns. The space is also an event space which allows for a variety of recreational activities from musical events, celebrations, ceremonies and play. The design of the space also incorporates an existing old cinema and seeks to revive the cinema and develop it as a cinema and theatre. The purpose of reviving the cin- ema is to bring back a cinema-going culture to the area of Mofolo and Soweto at large. The exterior space will be an extension of the cinema and will function as an open-air cinema among other uses mentioned above. In addition there will be office spaces, trade spaces both formal and informal and recreational facilities. The design plays on the social patterns of public life in Soweto

Wide-address spaces - exploring the design space

In a recent issue of Operating System Review, Hayter and McAuley [1991] argue that future high-performance systems trade a traditional, bus-based organization for one where all components are linked together by network switches (the Desk-Area Network). In this issue of Operating System Review, Leslie, McAuley and Mullender conclude that DAN-based architectures allow the exploitation of shared memory on a wider scale than just a single (multi)processor. In this paper, we will explore how emerging 64-bit processors can be used to implement shared address spaces spanning multiple machines

Bodies and everyday practices in designed urban environments

In recent years, the centres of many towns and cities have been reshaped by urban design projects, but little attention has been paid to how these transformations are experienced everyday by users of the city. In other words: how do the users of urban centers, such as shoppers, cleaners, or workers, perceive these changes, as embodied subjects in specific material environments? This paper analyses how bodies in two intensely designed urban spaces – the shopping centre of Milton Keynes, a 1960s new town, and Bedford's recently redeveloped historic town centre – are affected by elements of the built environment. 'Affected' is a term borrowed from Latour (2004), and the paper works with, and elaborates, some of his and others' work on how bodies are effectuated by other entities. Such Latourian work pays a great deal of attention to how bodies are affected by both human and non-human entities of many kinds, and we examine how certain aspects of the built environment in these two towns affects bodies in specific ways. However, we also emphasise the variability in this process, in particular that bodies seem unaware – or ambivalently aware – of many entities' affordances

Exploring the use of new school buildings through post-occupancy evaluation and participatory action research

This paper presents the results of the development and testing of an integrated post-occupancy evaluation (POE) approach for teachers, staff, pupils and community members using newly constructed school buildings. It focusses on three cases of UK secondary schools, demonstrating how users can be inspired to engage with the problems of school design and energy use awareness. The cases provided new insights into the engagement of school teachers, staff and young people regarding issues of sustainability, management, functional performance and comfort. The integrative approach adopted in these cases provided a more holistic understanding of these buildings’ performance than could have been achieved by either observational or more traditional questionnaire-based methods. Moreover, the whole-school approach, involving children in POE, provided researchers with highly contextualised information about how a school is used, how to improve the quality of school experiences (both socially and educationally) and how the school community is contributing to the building's energy performance. These POE methods also provided unique opportunities for children to examine the social and cultural factors impeding the adoption of energy-conscious and sustainable behaviours

Collaborative Practices that Support Creativity in Design

Design is a ubiquitous, collaborative and highly material activity. Because of the embodied nature of the design profession, designers apply certain collaborative practices to enhance creativity in their everyday work. Within the domain of industrial design, we studied two educational design departments over a period of eight months. Using examples from our fieldwork, we develop our results around three broad themes related to collaborative practices that support the creativity of design professionals: 1) externalization, 2) use of physical space, and 3) use of bodies. We believe that these themes of collaborative practices could provide new insights into designing technologies for supporting a varied set of design activities. We describe two conceptual collaborative systems derived from the results of our study

Emergent Landscape: Urban Shadow Space, Illuminated

This study defines a new approach to the transformation of unmaintained land within cities, or urban shadow space. Although urban shadow space can offer a place of free expression for the community and spontaneous vegetative growth within a city, it is often dismissed as blighted land by public authority. This study maximizes existing opportunities of these spaces, illuminating a realm of the city that is currently dark to the public eye. A proposed set of guidelines is utilized in the creation of three alternative designs that illustrate the emergent landscape, a sensitively designed, evolving landscape that encourages user interaction with the site. These guidelines and the results of their application are intended to assist design professionals who wish to move beyond the typical “clean and green” strategy currently employed by many municipalities to embrace a site’s existing characteristics