Performance evaluation of a distributed integrative architecture for robotics

The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

Co-simulation techniques based on virtual platforms for SoC design and verification in power electronics applications

En las últimas décadas, la inversión en el ámbito energético ha aumentado considerablemente. Actualmente, existen numerosas empresas que están desarrollando equipos como convertidores de potencia o máquinas eléctricas con sistemas de control de última generación. La tendencia actual es usar System-on-chips y Field Programmable Gate Arrays para implementar todo el sistema de control. Estos dispositivos facilitan el uso de algoritmos de control más complejos y eficientes, mejorando la eficiencia de los equipos y habilitando la integración de los sistemas renovables en la red eléctrica. Sin embargo, la complejidad de los sistemas de control también ha aumentado considerablemente y con ello la dificultad de su verificación. Los sistemas Hardware-in-the-loop (HIL) se han presentado como una solución para la verificación no destructiva de los equipos energéticos, evitando accidentes y pruebas de alto coste en bancos de ensayo. Los sistemas HIL simulan en tiempo real el comportamiento de la planta de potencia y su interfaz para realizar las pruebas con la placa de control en un entorno seguro. Esta tesis se centra en mejorar el proceso de verificación de los sistemas de control en aplicaciones de electrónica potencia. La contribución general es proporcionar una alternativa a al uso de los HIL para la verificación del hardware/software de la tarjeta de control. La alternativa se basa en la técnica de Software-in-the-loop (SIL) y trata de superar o abordar las limitaciones encontradas hasta la fecha en el SIL. Para mejorar las cualidades de SIL se ha desarrollado una herramienta software denominada COSIL que permite co-simular la implementación e integración final del sistema de control, sea software (CPU), hardware (FPGA) o una mezcla de software y hardware, al mismo tiempo que su interacción con la planta de potencia. Dicha plataforma puede trabajar en múltiples niveles de abstracción e incluye soporte para realizar co-simulación mixtas en distintos lenguajes como C o VHDL. A lo largo de la tesis se hace hincapié en mejorar una de las limitaciones de SIL, su baja velocidad de simulación. Se proponen diferentes soluciones como el uso de emuladores software, distintos niveles de abstracción del software y hardware, o relojes locales en los módulos de la FPGA. En especial se aporta un mecanismo de sincronizaron externa para el emulador software QEMU habilitando su emulación multi-core. Esta aportación habilita el uso de QEMU en plataformas virtuales de co-simulacion como COSIL. Toda la plataforma COSIL, incluido el uso de QEMU, se ha analizado bajo diferentes tipos de aplicaciones y bajo un proyecto industrial real. Su uso ha sido crítico para desarrollar y verificar el software y hardware del sistema de control de un convertidor de 400 kVA

OnionBots: Subverting Privacy Infrastructure for Cyber Attacks

Over the last decade botnets survived by adopting a sequence of increasingly sophisticated strategies to evade detection and take overs, and to monetize their infrastructure. At the same time, the success of privacy infrastructures such as Tor opened the door to illegal activities, including botnets, ransomware, and a marketplace for drugs and contraband. We contend that the next waves of botnets will extensively subvert privacy infrastructure and cryptographic mechanisms. In this work we propose to preemptively investigate the design and mitigation of such botnets. We first, introduce OnionBots, what we believe will be the next generation of resilient, stealthy botnets. OnionBots use privacy infrastructures for cyber attacks by completely decoupling their operation from the infected host IP address and by carrying traffic that does not leak information about its source, destination, and nature. Such bots live symbiotically within the privacy infrastructures to evade detection, measurement, scale estimation, observation, and in general all IP-based current mitigation techniques. Furthermore, we show that with an adequate self-healing network maintenance scheme, that is simple to implement, OnionBots achieve a low diameter and a low degree and are robust to partitioning under node deletions. We developed a mitigation technique, called SOAP, that neutralizes the nodes of the basic OnionBots. We also outline and discuss a set of techniques that can enable subsequent waves of Super OnionBots. In light of the potential of such botnets, we believe that the research community should proactively develop detection and mitigation methods to thwart OnionBots, potentially making adjustments to privacy infrastructure.Comment: 12 pages, 8 figure

Transparent Orchestration of Task-based Parallel Applications in Containers Platforms

This paper presents a framework to easily build and execute parallel applications in container-based distributed computing platforms in a user-transparent way. The proposed framework is a combination of the COMP Superscalar (COMPSs) programming model and runtime, which provides a straightforward way to develop task-based parallel applications from sequential codes, and containers management platforms that ease the deployment of applications in computing environments (as Docker, Mesos or Singularity). This framework provides scientists and developers with an easy way to implement parallel distributed applications and deploy them in a one-click fashion. We have built a prototype which integrates COMPSs with different containers engines in different scenarios: i) a Docker cluster, ii) a Mesos cluster, and iii) Singularity in an HPC cluster. We have evaluated the overhead in the building phase, deployment and execution of two benchmark applications compared to a Cloud testbed based on KVM and OpenStack and to the usage of bare metal nodes. We have observed an important gain in comparison to cloud environments during the building and deployment phases. This enables better adaptation of resources with respect to the computational load. In contrast, we detected an extra overhead during the execution, which is mainly due to the multi-host Docker networking.This work is partly supported by the Spanish Government through Programa Severo Ochoa (SEV-2015-0493), by the Spanish Ministry of Science and Technology through TIN2015-65316 project, by the Generalitat de Catalunya under contracts 2014-SGR-1051 and 2014-SGR-1272, and by the European Union through the Horizon 2020 research and innovation program under grant 690116 (EUBra-BIGSEA Project). Results presented in this paper were obtained using the Chameleon testbed supported by the National Science Foundation.Peer ReviewedPostprint (author's final draft

Algorithms for advance bandwidth reservation in media production networks

Media production generally requires many geographically distributed actors (e.g., production houses, broadcasters, advertisers) to exchange huge amounts of raw video and audio data. Traditional distribution techniques, such as dedicated point-to-point optical links, are highly inefficient in terms of installation time and cost. To improve efficiency, shared media production networks that connect all involved actors over a large geographical area, are currently being deployed. The traffic in such networks is often predictable, as the timing and bandwidth requirements of data transfers are generally known hours or even days in advance. As such, the use of advance bandwidth reservation (AR) can greatly increase resource utilization and cost efficiency. In this paper, we propose an Integer Linear Programming formulation of the bandwidth scheduling problem, which takes into account the specific characteristics of media production networks, is presented. Two novel optimization algorithms based on this model are thoroughly evaluated and compared by means of in-depth simulation results