Using the DiaSpec design language and compiler to develop robotics systems

A Sense/Compute/Control (SCC) application is one that interacts with the physical environment. Such applications are pervasive in domains such as building automation, assisted living, and autonomic computing. Developing an SCC application is complex because: (1) the implementation must address both the interaction with the environment and the application logic; (2) any evolution in the environment must be reflected in the implementation of the application; (3) correctness is essential, as effects on the physical environment can have irreversible consequences. The SCC architectural pattern and the DiaSpec domain-specific design language propose a framework to guide the design of such applications. From a design description in DiaSpec, the DiaSpec compiler is capable of generating a programming framework that guides the developer in implementing the design and that provides runtime support. In this paper, we report on an experiment using DiaSpec (both the design language and compiler) to develop a standard robotics application. We discuss the benefits and problems of using DiaSpec in a robotics setting and present some changes that would make DiaSpec a better framework in this setting.Comment: DSLRob'11: Domain-Specific Languages and models for ROBotic systems (2011

FastDepth: Fast Monocular Depth Estimation on Embedded Systems

Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and size of monocular cameras. However, state-of-the-art single-view depth estimation algorithms are based on fairly complex deep neural networks that are too slow for real-time inference on an embedded platform, for instance, mounted on a micro aerial vehicle. In this paper, we address the problem of fast depth estimation on embedded systems. We propose an efficient and lightweight encoder-decoder network architecture and apply network pruning to further reduce computational complexity and latency. In particular, we focus on the design of a low-latency decoder. Our methodology demonstrates that it is possible to achieve similar accuracy as prior work on depth estimation, but at inference speeds that are an order of magnitude faster. Our proposed network, FastDepth, runs at 178 fps on an NVIDIA Jetson TX2 GPU and at 27 fps when using only the TX2 CPU, with active power consumption under 10 W. FastDepth achieves close to state-of-the-art accuracy on the NYU Depth v2 dataset. To the best of the authors' knowledge, this paper demonstrates real-time monocular depth estimation using a deep neural network with the lowest latency and highest throughput on an embedded platform that can be carried by a micro aerial vehicle.Comment: Accepted for presentation at ICRA 2019. 8 pages, 6 figures, 7 table

HALLS: An Energy-Efficient Highly Adaptable Last Level STT-RAM Cache for Multicore Systems

Spin-Transfer Torque RAM (STT-RAM) is widely considered a promising alternative to SRAM in the memory hierarchy due to STT-RAM's non-volatility, low leakage power, high density, and fast read speed. The STT-RAM's small feature size is particularly desirable for the last-level cache (LLC), which typically consumes a large area of silicon die. However, long write latency and high write energy still remain challenges of implementing STT-RAMs in the CPU cache. An increasingly popular method for addressing this challenge involves trading off the non-volatility for reduced write speed and write energy by relaxing the STT-RAM's data retention time. However, in order to maximize energy saving potential, the cache configurations, including STT-RAM's retention time, must be dynamically adapted to executing applications' variable memory needs. In this paper, we propose a highly adaptable last level STT-RAM cache (HALLS) that allows the LLC configurations and retention time to be adapted to applications' runtime execution requirements. We also propose low-overhead runtime tuning algorithms to dynamically determine the best (lowest energy) cache configurations and retention times for executing applications. Compared to prior work, HALLS reduced the average energy consumption by 60.57% in a quad-core system, while introducing marginal latency overhead.Comment: To Appear on IEEE Transactions on Computers (TC

Handling the Subclassing Anomaly with Object Teams

Java software or libraries can evolve via subclassing. Unfortunately, subclassing may not properly support code adaptation when there are dependencies between classes. More precisely, subclassing in collections of related classes may require reimplementation of otherwise valid classes. This problem is defined as the subclassing anomaly, which is an issue when software evolution or code reuse is a goal of the programmer who is using existing classes. Object Teams offers an implicit fix to this problem and is largely compatible with the existing JVMs. In this paper, we evaluate how well Object Teams succeeds in providing a solution for a complex, real world project. Our results indicate that while Object Teams is a suitable solution for simple examples, it does not meet the requirements for large scale projects. The reasons why Object Teams fails in certain usages may prove useful to those who create linguistic modifications in languages or those who seek new methods for code adaptation