Analysis of distributed multi-periodic systems to achieve consistent data matching

International audienceDistributed real-time architecture of an embedded system is often described as a set of communicating components. Such a system is data flow (for its description) and time-triggered (for its execution). This work fits in with these problematics and focuses on the control of the time compatibility of a set of interdependent data used by the system components. The architecture of a component-based system forms a graph of communicating components, where more than one path can link two components. These paths may have different timing characteristics but the flows of information which transit on these paths may need to be adequately matched, so that a component uses inputs which all (directly or indirectly) depend on the same production step. In this paper, we define this temporal datamatching property, we show how to analyze the architecture to detect situations that cause data matching inconsistencies, and we describe an approach to manage data matching that uses queues to delay too fast paths and timestamps to recognize consistent data

Analysis of distributed multi-periodic systems to achieve consistent data matching

Distributed real-time architecture of an embedded system is often described as a set of communicating components. Such a system is data flow (for its description) and time-triggered (for its execution). This work fits in with these problematics and focuses on the control of the time compatibility of a set of interdependent data used by the system components. The architecture of a component-based system forms a graph of communicating components, where more than one path can link two components. These paths may have different timing characteristics but the flows of information which transit on these paths may need to be adequately matched, so that a component uses inputs which all (directly or indirectly) depend on the same production step. In this paper, we define this temporal data-matching property, we show how to analyze the architecture to detect situations that can cause data matching inconsistencies, and we describe an approach to manage data matching that uses queues to delay too fast paths and timestamps to recognize consistent data

Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

Efficient computation of matched solutions of the Kapchinskij-Vladimirskij envelope equations for periodic focusing lattices

A new iterative method is developed to numerically calculate the periodic, matched beam envelope solution of the coupled Kapchinskij-Vladimirskij (KV) equations describing the transverse evolution of a beam in a periodic, linear focusing lattice of arbitrary complexity. Implementation of the method is straightforward. It is highly convergent and can be applied to all usual parameterizations of the matched envelope solutions. The method is applicable to all classes of linear focusing lattices without skew couplings, and also applies to all physically achievable system parameters -- including where the matched beam envelope is strongly unstable. Example applications are presented for periodic solenoidal and quadrupole focusing lattices. Convergence properties are summarized over a wide range of system parameters.Comment: 20 pages, 5 figures, Mathematica source code provide

Next nearest neighbour Ising models on random graphs

This paper develops results for the next nearest neighbour Ising model on random graphs. Besides being an essential ingredient in classic models for frustrated systems, second neighbour interactions interactions arise naturally in several applications such as the colour diversity problem and graphical games. We demonstrate ensembles of random graphs, including regular connectivity graphs, that have a periodic variation of free energy, with either the ratio of nearest to next nearest couplings, or the mean number of nearest neighbours. When the coupling ratio is integer paramagnetic phases can be found at zero temperature. This is shown to be related to the locked or unlocked nature of the interactions. For anti-ferromagnetic couplings, spin glass phases are demonstrated at low temperature. The interaction structure is formulated as a factor graph, the solution on a tree is developed. The replica symmetric and energetic one-step replica symmetry breaking solution is developed using the cavity method. We calculate within these frameworks the phase diagram and demonstrate the existence of dynamical transitions at zero temperature for cases of anti-ferromagnetic coupling on regular and inhomogeneous random graphs.Comment: 55 pages, 15 figures, version 2 with minor revisions, to be published J. Stat. Mec