21,674 research outputs found
Study of fault tolerant software technology for dynamic systems
The major aim of this study is to investigate the feasibility of using systems-based failure detection isolation and compensation (FDIC) techniques in building fault-tolerant software and extending them, whenever possible, to the domain of software fault tolerance. First, it is shown that systems-based FDIC methods can be extended to develop software error detection techniques by using system models for software modules. In particular, it is demonstrated that systems-based FDIC techniques can yield consistency checks that are easier to implement than acceptance tests based on software specifications. Next, it is shown that systems-based failure compensation techniques can be generalized to the domain of software fault tolerance in developing software error recovery procedures. Finally, the feasibility of using fault-tolerant software in flight software is investigated. In particular, possible system and version instabilities, and functional performance degradation that may occur in N-Version programming applications to flight software are illustrated. Finally, a comparative analysis of N-Version and recovery block techniques in the context of generic blocks in flight software is presented
Group Testing with Probabilistic Tests: Theory, Design and Application
Identification of defective members of large populations has been widely
studied in the statistics community under the name of group testing. It
involves grouping subsets of items into different pools and detecting defective
members based on the set of test results obtained for each pool.
In a classical noiseless group testing setup, it is assumed that the sampling
procedure is fully known to the reconstruction algorithm, in the sense that the
existence of a defective member in a pool results in the test outcome of that
pool to be positive. However, this may not be always a valid assumption in some
cases of interest. In particular, we consider the case where the defective
items in a pool can become independently inactive with a certain probability.
Hence, one may obtain a negative test result in a pool despite containing some
defective items. As a result, any sampling and reconstruction method should be
able to cope with two different types of uncertainty, i.e., the unknown set of
defective items and the partially unknown, probabilistic testing procedure.
In this work, motivated by the application of detecting infected people in
viral epidemics, we design non-adaptive sampling procedures that allow
successful identification of the defective items through a set of probabilistic
tests. Our design requires only a small number of tests to single out the
defective items. In particular, for a population of size and at most
defective items with activation probability , our results show that tests is sufficient if the sampling procedure should
work for all possible sets of defective items, while
tests is enough to be successful for any single set of defective items.
Moreover, we show that the defective members can be recovered using a simple
reconstruction algorithm with complexity of .Comment: Full version of the conference paper "Compressed Sensing with
Probabilistic Measurements: A Group Testing Solution" appearing in
proceedings of the 47th Annual Allerton Conference on Communication, Control,
and Computing, 2009 (arXiv:0909.3508). To appear in IEEE Transactions on
Information Theor
Learning to Prevent Monocular SLAM Failure using Reinforcement Learning
Monocular SLAM refers to using a single camera to estimate robot ego motion
while building a map of the environment. While Monocular SLAM is a well studied
problem, automating Monocular SLAM by integrating it with trajectory planning
frameworks is particularly challenging. This paper presents a novel formulation
based on Reinforcement Learning (RL) that generates fail safe trajectories
wherein the SLAM generated outputs do not deviate largely from their true
values. Quintessentially, the RL framework successfully learns the otherwise
complex relation between perceptual inputs and motor actions and uses this
knowledge to generate trajectories that do not cause failure of SLAM. We show
systematically in simulations how the quality of the SLAM dramatically improves
when trajectories are computed using RL. Our method scales effectively across
Monocular SLAM frameworks in both simulation and in real world experiments with
a mobile robot.Comment: Accepted at the 11th Indian Conference on Computer Vision, Graphics
and Image Processing (ICVGIP) 2018 More info can be found at the project page
at https://robotics.iiit.ac.in/people/vignesh.prasad/SLAMSafePlanner.html and
the supplementary video can be found at
https://www.youtube.com/watch?v=420QmM_Z8v
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