6,967 research outputs found
Computing in the RAIN: a reliable array of independent nodes
The RAIN project is a research collaboration between Caltech and NASA-JPL on distributed computing and data-storage systems for future spaceborne missions. The goal of the project is to identify and develop key building blocks for reliable distributed systems built with inexpensive off-the-shelf components. The RAIN platform consists of a heterogeneous cluster of computing and/or storage nodes connected via multiple interfaces to networks configured in fault-tolerant topologies. The RAIN software components run in conjunction with operating system services and standard network protocols. Through software-implemented fault tolerance, the system tolerates multiple node, link, and switch failures, with no single point of failure. The RAIN-technology has been transferred to Rainfinity, a start-up company focusing on creating clustered solutions for improving the performance and availability of Internet data centers. In this paper, we describe the following contributions: 1) fault-tolerant interconnect topologies and communication protocols providing consistent error reporting of link failures, 2) fault management techniques based on group membership, and 3) data storage schemes based on computationally efficient error-control codes. We present several proof-of-concept applications: a highly-available video server, a highly-available Web server, and a distributed checkpointing system. Also, we describe a commercial product, Rainwall, built with the RAIN technology
Adversarial Training for Adverse Conditions: Robust Metric Localisation using Appearance Transfer
We present a method of improving visual place recognition and metric
localisation under very strong appear- ance change. We learn an invertable
generator that can trans- form the conditions of images, e.g. from day to
night, summer to winter etc. This image transforming filter is explicitly
designed to aid and abet feature-matching using a new loss based on SURF
detector and dense descriptor maps. A network is trained to output synthetic
images optimised for feature matching given only an input RGB image, and these
generated images are used to localize the robot against a previously built map
using traditional sparse matching approaches. We benchmark our results using
multiple traversals of the Oxford RobotCar Dataset over a year-long period,
using one traversal as a map and the other to localise. We show that this
method significantly improves place recognition and localisation under changing
and adverse conditions, while reducing the number of mapping runs needed to
successfully achieve reliable localisation.Comment: Accepted at ICRA201
A Configurable Transport Layer for CAF
The message-driven nature of actors lays a foundation for developing scalable
and distributed software. While the actor itself has been thoroughly modeled,
the message passing layer lacks a common definition. Properties and guarantees
of message exchange often shift with implementations and contexts. This adds
complexity to the development process, limits portability, and removes
transparency from distributed actor systems.
In this work, we examine actor communication, focusing on the implementation
and runtime costs of reliable and ordered delivery. Both guarantees are often
based on TCP for remote messaging, which mixes network transport with the
semantics of messaging. However, the choice of transport may follow different
constraints and is often governed by deployment. As a first step towards
re-architecting actor-to-actor communication, we decouple the messaging
guarantees from the transport protocol. We validate our approach by redesigning
the network stack of the C++ Actor Framework (CAF) so that it allows to combine
an arbitrary transport protocol with additional functions for remote messaging.
An evaluation quantifies the cost of composability and the impact of individual
layers on the entire stack
Self-Referential Noise and the Synthesis of Three-Dimensional Space
Generalising results from Godel and Chaitin in mathematics suggests that
self-referential systems contain intrinsic randomness. We argue that this is
relevant to modelling the universe and show how three-dimensional space may
arise from a non-geometric order-disorder model driven by self-referential
noise.Comment: Figure labels correcte
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