Constant-time approximate sliding window framework with error control

Stream Processing is a crucial element for the Edge Computing paradigm, in which large amount of devices generate data at the edge of the network. This data needs to be aggregated and processed on-the-move across different layers before reaching the Cloud. Therefore, defining Stream Processing services that adapt to different levels of resource availability is of paramount importance. In this context, Stream Processing frameworks need to combine efficient algorithms with low computational complexity to manage sliding windows, with the ability to adjust resource demands for different deployment scenarios, from very low capacity edge devices to virtually unlimited Cloud platforms. The Approximate Computing paradigm provides improved performance and adaptive resource demands in data analytics, at the price of introducing some level of inaccuracy that can be calculated. In this paper we present the Approximate and Amortized Monoid Tree Aggregator (A 2 MTA). It is, to our knowledge, the first general purpose sliding window programable framework that combines constant-time aggregations with error bounded approximate computing techniques. It is very suitable for adverse stream processing environments, such as resource scarce multi-tenant edge computing. The framework can compute aggregations over multiple data dimensions, setting error bounds on any of them, and has been designed to support decoupling computation and data storage through the use of distributed Key-Value Stores to keep window elements and partial aggregations.This project is partially supported by the European Research Council (ERC), Spain under the European Union’s Horizon 2020 research and innovation programme (grant agreement No 639595). It is also partially supported by the Ministry of Economy of Spain under contract TIN2015-65316-P and Generalitat de Catalunya, Spain under contract 2014SGR1051, by the ICREA Academia program, and by the BSC-CNS Severo Ochoa program (SEV-2015-0493).Peer ReviewedPostprint (author's final draft

Scalable processing of aggregate functions for data streams in resource-constrained environments

The fast evolution of data analytics platforms has resulted in an increasing demand for real-time data stream processing. From Internet of Things applications to the monitoring of telemetry generated in large datacenters, a common demand for currently emerging scenarios is the need to process vast amounts of data with low latencies, generally performing the analysis process as close to the data source as possible. Devices and sensors generate streams of data across a diversity of locations and protocols. That data usually reaches a central platform that is used to store and process the streams. Processing can be done in real time, with transformations and enrichment happening on-the-fly, but it can also happen after data is stored and organized in repositories. In the former case, stream processing technologies are required to operate on the data; in the latter batch analytics and queries are of common use. Stream processing platforms are required to be malleable and absorb spikes generated by fluctuations of data generation rates. Data is usually produced as time series that have to be aggregated using multiple operators, being sliding windows one of the most common abstractions used to process data in real-time. To satisfy the above-mentioned demands, efficient stream processing techniques that aggregate data with minimal computational cost need to be developed. However, data analytics might require to aggregate extensive windows of data. Approximate computing has been a central paradigm for decades in data analytics in order to improve the performance and reduce the needed resources, such as memory, computation time, bandwidth or energy. In exchange for these improvements, the aggregated results suffer from a level of inaccuracy that in some cases can be predicted and constrained. This doctoral thesis aims to demonstrate that it is possible to have constant-time and memory efficient aggregation functions with approximate computing mechanisms for constrained environments. In order to achieve this goal, the work has been structured in three research challenges. First we introduce a runtime to dynamically construct data stream processing topologies based on user-supplied code. These dynamic topologies are built on-the-fly using a data subscription model de¿ned by the applications that consume data. The subscription-based programing model enables multiple users to deploy their own data-processing services. On top of this runtime, we present the Amortized Monoid Tree Aggregator general sliding window aggregation framework, which seamlessly combines the following features: amortized O(1) time complexity and a worst-case of O(log n) between insertions; it provides both a window aggregation mechanism and a window slide policy that are user programmable; the enforcement of the window sliding policy exhibits amortized O(1) computational cost for single evictions and supports bulk evictions with cost O(log n); and it requires a local memory space of O(log n). The framework can compute aggregations over multiple data dimensions, and has been designed to support decoupling computation and data storage through the use of distributed Key-Value Stores to keep window elements and partial aggregations. Specially motivated by edge computing scenarios, we contribute Approximate and Amortized Monoid Tree Aggregator (A2MTA). It is, to our knowledge, the first general purpose sliding window programable framework that combines constant-time aggregations with error bounded approximate computing techniques. A2MTA uses statistical analysis of the stream data in order to perform inaccurate aggregations, providing a critical reduction of needed resources for massive stream data aggregation, and an improvement of performance.La ràpida evolució de les plataformes d'anàlisi de dades ha resultat en un increment de la demanda de processament de fluxos continus de dades en temps real. Des de la internet de les coses fins al monitoratge de telemetria generada en grans servidors, una demanda recurrent per escenaris emergents es la necessitat de processar grans quantitats de dades amb latències molt baixes, generalment fent el processat de les dades tant a prop dels origines com sigui possible. Les dades son generades com a fluxos continus per dispositius que utilitzen una varietat de localitzacions i protocols. Aquests processat de les dades s pot fer en temps real amb les transformacions efectuant-se al vol, i en aquest cas la utilització de plataformes de processat d'streams és necessària. Les plataformes de processat d'streams cal que absorbeixin pics de freqüència de dades. Les dades es generen com a series temporals que s'agreguen fent servir multiples operadors, on les finestres són l'abstracció més habitual. Per a satisfer les baixes latències i maleabilitat requerides, els operadors necesiten tenir un cost computacional mínim, inclús amb extenses finestres de dades per a agregar. La computació aproximada ha sigut durant decades un paradigma rellevant per l'anàlisi de dades on cal millorar el rendiment de diferents algorismes i reduir-ne el temps de computació, la memòria requerida, l'ample de banda o el consum energètic. A canvi d'aquestes millores, els resultats poden patir d'una falta d'exactitud que pot ser estimada i controlada. Aquesta tesi doctoral vol demostrar que es posible tenir funcions d'agregació pel processat d'streams que tinc un cost de temps constant, sigui eficient en termes de memoria i faci ús de computació aproximada. Per aconseguir aquests objectius, aquesta tesi està dividida en tres reptes. Primer presentem un entorn per a la construcció dinàmica de topologies de computació d'streams de dades utilitzant codi d'usuari. Aquestes topologies es construeixen fent servir un model de subscripció a streams, en el que les aplicación consumidores de dades amplien les topologies mentre s'estan executant. Aquest entorn permet multiples entitats ampliant una mateixa topologia. A sobre d'aquest entorn, presentem un framework de propòsit general per a l'agregació de finestres de dades anomenat AMTA (Amortized Monoid Tree Aggregator). Aquest framework combina: temps amortitzat constant per a totes les operacions, amb un cas pitjor logarítmic; programable tant en termes d'agregació com en termes d'expulsió d'elements de la finestra. L'expulsió massiva d'elements de la finestra es considera una operació atòmica, amb un cost amortitzat constant; i requereix espai en memoria local per a O(log n) elements de la finestra. Aquest framework pot computar agregacions sobre multiples dimensions de dades, i ha estat dissenyat per desacoplar la computació de les dades del seu desat, podent tenir els continguts de la finestra distribuits en diferents màquines. Motivats per la computació en l'edge (edge computing), hem contribuit A2MTA (Approximate and Amortized Monoid Tree Aggregator). Des de el nostre coneixement, es el primer framework de propòsit general per a la computació de finestres que combina un cost constant per a totes les seves operacions amb tècniques de computació aproximada amb control de l'error. A2MTA fa us d'anàlisis estadístics per a poder fer agregacions amb error limitat, reduint críticament els recursos necessaris per a la computació de grans quantitats de dades

Underdetermined-order recursive least-squares adaptive filtering: The concept and algorithms

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Probabilistic movement modeling for intention inference in human-robot interaction.

Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.