87 research outputs found

    Towards the simulation of cooperative perception applications by leveraging distributed sensing infrastructures

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    With the rapid development of Automated Vehicles (AV), the boundaries of their function alities are being pushed and new challenges are being imposed. In increasingly complex and dynamic environments, it is fundamental to rely on more powerful onboard sensors and usually AI. However, there are limitations to this approach. As AVs are increasingly being integrated in several industries, expectations regarding their cooperation ability is growing, and vehicle-centric approaches to sensing and reasoning, become hard to integrate. The proposed approach is to extend perception to the environment, i.e. outside of the vehicle, by making it smarter, via the deployment of wireless sensors and actuators. This will vastly improve the perception capabilities in dynamic and unpredictable scenarios and often in a cheaper way, relying mostly in the use of lower cost sensors and embedded devices, which rely on their scale deployment instead of centralized sensing abilities. Consequently, to support the development and deployment of such cooperation actions in a seamless way, we require the usage of co-simulation frameworks, that can encompass multiple perspectives of control and communications for the AVs, the wireless sensors and actuators and other actors in the environment. In this work, we rely on ROS2 and micro-ROS as the underlying technologies for integrating several simulation tools, to construct a framework, capable of supporting the development, test and validation of such smart, cooperative environments. This endeavor was undertaken by building upon an existing simulation framework known as AuNa. We extended its capabilities to facilitate the simulation of cooperative scenarios by incorporat ing external sensors placed within the environment rather than just relying on vehicle-based sensors. Moreover, we devised a cooperative perception approach within this framework, showcasing its substantial potential and effectiveness. This will enable the demonstration of multiple cooperation scenarios and also ease the deployment phase by relying on the same software architecture.Com o rápido desenvolvimento dos Veículos Autónomos (AV), os limites das suas funcional idades estão a ser alcançados e novos desafios estão a surgir. Em ambientes complexos e dinâmicos, é fundamental a utilização de sensores de alta capacidade e, na maioria dos casos, inteligência artificial. Mas existem limitações nesta abordagem. Como os AVs estão a ser integrados em várias indústrias, as expectativas quanto à sua capacidade de cooperação estão a aumentar, e as abordagens de perceção e raciocínio centradas no veículo, tornam-se difíceis de integrar. A abordagem proposta consiste em extender a perceção para o ambiente, isto é, fora do veículo, tornando-a inteligente, através do uso de sensores e atuadores wireless. Isto irá melhorar as capacidades de perceção em cenários dinâmicos e imprevisíveis, reduzindo o custo, pois a abordagem será baseada no uso de sensores low-cost e sistemas embebidos, que dependem da sua implementação em grande escala em vez da capacidade de perceção centralizada. Consequentemente, para apoiar o desenvolvimento e implementação destas ações em cooperação, é necessária a utilização de frameworks de co-simulação, que abranjam múltiplas perspetivas de controlo e comunicação para os AVs, sensores e atuadores wireless, e outros atores no ambiente. Neste trabalho será utilizado ROS2 e micro-ROS como as tecnologias subjacentes para a integração das ferramentas de simulação, de modo a construir uma framework capaz de apoiar o desenvolvimento, teste e validação de ambientes inteligentes e cooperativos. Esta tarefa foi realizada com base numa framework de simulação denominada AuNa. Foram expandidas as suas capacidades para facilitar a simulação de cenários cooperativos através da incorporação de sensores externos colocados no ambiente, em vez de depender apenas de sensores montados nos veículos. Além disso, concebemos uma abordagem de perceção cooperativa usando a framework, demonstrando o seu potencial e eficácia. Isto irá permitir a demonstração de múltiplos cenários de cooperação e também facilitar a fase de implementação, utilizando a mesma arquitetura de software

    iURBAN

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    iURBAN: Intelligent Urban Energy Tool introduces an urban energy tool integrating different ICT energy management systems (both hardware and software) in two European cities, providing useful data to a novel decision support system that makes available the necessary parameters for the generation and further operation of associated business models. The business models contribute at a global level to efficiently manage and distribute the energy produced and consumed at a local level (city or neighbourhood), incorporating behavioural aspects of the users into the software platform and in general prosumers. iURBAN integrates a smart Decision Support System (smartDSS) that collects real-time or near real-time data, aggregates, analyses and suggest actions of energy consumption and production from different buildings, renewable energy production resources, combined heat and power plants, electric vehicles (EV) charge stations, storage systems, sensors and actuators. The consumption and production data is collected via a heterogeneous data communication protocols and networks. The iURBAN smartDSS through a Local Decision Support System allows the citizens to analyse the consumptions and productions that they are generating, receive information about CO2 savings, advises in demand response and the possibility to participate actively in the energy market. Whilst, through a Centralised Decision Support System allow to utilities, ESCOs, municipalities or other authorised third parties to: Get a continuous snapshot of city energy consumption and productionManage energy consumption and productionForecasting of energy consumptionPlanning of new energy "producers" for the future needs of the cityVisualise, analyse and take decisions of all the end points that are consuming or producing energy in a city level, permitting them to forecast and planning renewable power generation available in the city

    OpenFPM: A scalable environment for particle and particle-mesh codes on parallel computers

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    Scalable and efficient numerical simulations continue to gain importance, as computation is firmly established tool of discovery, together with theory and experiment. Meanwhile, the performance of computing hardware grows with increasing heterogeneous hardware, enabling simulations of ever more complex models. However, efficiently implementing scalable codes on heterogeneous, distributed hardware systems becomes the bottleneck. This bottleneck can be alleviated by intermediate software layers that provide higher-level abstractions closer to the problem domain, hence allowing the computational scientist to focus on the simulation. Here, we present OpenFPM, an open and scalable framework that provides an abstraction layer for numerical simulations using particles and/or meshes. OpenFPM provides transparent and scalable infrastructure for shared-memory and distributed-memory implementations of particles-only and hybrid particle-mesh simulations of both discrete and continuous models, as well as non-simulation codes. This infrastructure is complemented with frequently used numerical routines, as well as interfaces to third-party libraries. This thesis will present the architecture and design of OpenFPM, detail the underlying abstractions, and benchmark the framework in applications ranging from Smoothed-Particle Hydrodynamics (SPH) to Molecular Dynamics (MD), Discrete Element Methods (DEM), Vortex Methods, stencil codes, high-dimensional Monte Carlo sampling (CMA-ES), and Reaction-Diffusion solvers, comparing it to the current state of the art and existing software frameworks

    Hardware-Assisted Processor Tracing for Automated Bug Finding and Exploit Prevention

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    The proliferation of binary-only program analysis techniques like fuzz testing and symbolic analysis have lead to an acceleration in the number of publicly disclosed vulnerabilities. Unfortunately, while bug finding has benefited from recent advances in automation and a decreasing barrier to entry, bug remediation has received less attention. Consequently, analysts are publicly disclosing bugs faster than developers and system administrators can mitigate them. Hardware-supported processor tracing within commodity processors opens new doors to observing low-level behaviors with efficiency, transparency, and integrity that can close this automation gap. Unfortunately, several trade-offs in its design raise serious technical challenges that have limited widespread adoption. Specifically, modern processor traces only capture control flow behavior, yield high volumes of data that can incur overhead to sift through, and generally introduce a semantic gap between low-level behavior and security relevant events. To solve the above challenges, I propose control-oriented record and replay, which combines concrete traces with symbolic analysis to uncover vulnerabilities and exploits. To demonstrate the efficacy and versatility of my approach, I first present a system called ARCUS, which is capable of analyzing processor traces flagged by host-based monitors to detect, localize, and provide preliminary patches to developers for memory corruption vulnerabilities. ARCUS has detected 27 previously known vulnerabilities alongside 4 novel cases, leading to the issuance of several advisories and official developer patches. Next, I present MARSARA, a system that protects the integrity of execution unit partitioning in data provenance-based forensic analysis. MARSARA prevents several expertly crafted exploits from corrupting partitioned provenance graphs while incurring little overhead compared to prior work. Finally, I present Bunkerbuster, which extends the ideas from ARCUS and MARSARA into a system capable of proactively hunting for bugs across multiple end-hosts simultaneously, resulting in the discovery and patching of 4 more novel bugs.Ph.D

    Shader optimization and specialization

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    In the field of real-time graphics for computer games, performance has a significant effect on the player’s enjoyment and immersion. Graphics processing units (GPUs) are hardware accelerators that run small parallelized shader programs to speed up computationally expensive rendering calculations. This thesis examines optimizing shader programs and explores ways in which data patterns on both the CPU and GPU can be analyzed to automatically speed up rendering in games. Initially, the effect of traditional compiler optimizations on shader source-code was explored. Techniques such as loop unrolling or arithmetic reassociation provided speed-ups on several devices, but different GPU hardware responded differently to each set of optimizations. Analyzing execution traces from numerous popular PC games revealed that much of the data passed from CPU-based API calls to GPU-based shaders is either unused, or remains constant. A system was developed to capture this constant data and fold it into the shaders’ source-code. Re-running the game’s rendering code using these specialized shader variants resulted in performance improvements in several commercial games without impacting their visual quality

    Optimization-based design of fault-tolerant avionics

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    This dissertation considers the problem of improving the self-consciousness for avionic systems using numerical optimization techniques, emphasizing UAV applications. This self-consciousness implies a sense of awareness for oneself to make a reliable decision on some crucial aspects. In the context of the avionics or aerospace industry, those aspects are SWaP-C as well as safety and reliability. The decision-making processes to optimize these aspects, which are the main contributions of this work, are presented. In addition, implementation on various types of applications related to avionics and UAV are also provided. The first half of this thesis lays out the background of avionics development ranging from a mechanical gyroscope to a current state-of-the-art electronics system. The relevant mathematics regarding convex optimization and its algorithms, which will be used for formulating this self-consciousness problem, are also provided. The latter half presents two problem formulations for redundancy design automation and reconfigurable middleware. The first formulation focuses on the minimization of SWaP-C while satisfying safety and reliability requirements. The other one aims to maximize the system safety and reliability by introducing a fault-tolerant capability via the task scheduler of middleware or RTOS. The usage of these two formulations is shown by four aerospace applications---reconfigurable multicore avionics, a SITL simulation of a UAV GNC system, a modular drone, and a HITL simulation of a fault-tolerant distributed engine control architecture.Ph.D

    Building the Future Internet through FIRE

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    The Internet as we know it today is the result of a continuous activity for improving network communications, end user services, computational processes and also information technology infrastructures. The Internet has become a critical infrastructure for the human-being by offering complex networking services and end-user applications that all together have transformed all aspects, mainly economical, of our lives. Recently, with the advent of new paradigms and the progress in wireless technology, sensor networks and information systems and also the inexorable shift towards everything connected paradigm, first as known as the Internet of Things and lately envisioning into the Internet of Everything, a data-driven society has been created. In a data-driven society, productivity, knowledge, and experience are dependent on increasingly open, dynamic, interdependent and complex Internet services. The challenge for the Internet of the Future design is to build robust enabling technologies, implement and deploy adaptive systems, to create business opportunities considering increasing uncertainties and emergent systemic behaviors where humans and machines seamlessly cooperate

    Risk Management

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    Every business and decision involves a certain amount of risk. Risk might cause a loss to a company. This does not mean, however, that businesses cannot take risks. As disengagement and risk aversion may result in missed business opportunities, which will lead to slower growth and reduced prosperity of a company. In today's increasingly complex and diverse environment, it is crucial to find the right balance between risk aversion and risk taking. To do this it is essential to understand the complex, out of the whole range of economic, technical, operational, environmental and social risks associated with the company's activities. However, risk management is about much more than merely avoiding or successfully deriving benefit from opportunities. Risk management is the identification, assessment, and prioritization of risks. Lastly, risk management helps a company to handle the risks associated with a rapidly changing business environment
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