Autonomic management of virtualized resources in cloud computing

The last five years have witnessed a rapid growth of cloud computing in business, governmental and educational IT deployment. The success of cloud services depends critically on the effective management of virtualized resources. A key requirement of cloud management is the ability to dynamically match resource allocations to actual demands, To this end, we aim to design and implement a cloud resource management mechanism that manages underlying complexity, automates resource provisioning and controls client-perceived quality of service (QoS) while still achieving resource efficiency. The design of an automatic resource management centers on two questions: when to adjust resource allocations and how much to adjust. In a cloud, applications have different definitions on capacity and cloud dynamics makes it difficult to determine a static resource to performance relationship. In this dissertation, we have proposed a generic metric that measures application capacity, designed model-independent and adaptive approaches to manage resources and built a cloud management system scalable to a cluster of machines. To understand web system capacity, we propose to use a metric of productivity index (PI), which is defined as the ratio of yield to cost, to measure the system processing capability online. PI is a generic concept that can be applied to different levels to monitor system progress in order to identify if more capacity is needed. We applied the concept of PI to the problem of overload prevention in multi-tier websites. The overload predictor built on the PI metric shows more accurate and responsive overload prevention compared to conventional approaches. To address the issue of the lack of accurate server model, we propose a model-independent fuzzy control based approach for CPU allocation. For adaptive and stable control performance, we embed the controller with self-tuning output amplification and flexible rule selection. Finally, we build a QoS provisioning framework that supports multi-objective QoS control and service differentiation. Experiments on a virtual cluster with two service classes show the effectiveness of our approach in both performance and power control. To address the problems of complex interplay between resources and process delays in fine-grained multi-resource allocation, we consider capacity management as a decision-making problem and employ reinforcement learning (RL) to optimize the process. The optimization depends on the trial-and-error interactions with the cloud system. In order to improve the initial management performance, we propose a model-based RL algorithm. The neural network based environment model, which is learned from previous management history, generates simulated resource allocations for the RL agent. Experiment results on heterogeneous applications show that our approach makes efficient use of limited interactions and find near optimal resource configurations within 7 steps. Finally, we present a distributed reinforcement learning approach to the cluster-wide cloud resource management. We decompose the cluster-wide resource allocation problem into sub-problems concerning individual VM resource configurations. The cluster-wide allocation is optimized if individual VMs meet their SLA with a high resource utilization. For scalability, we develop an efficient reinforcement learning approach with continuous state space. For adaptability, we use VM low-level runtime statistics to accommodate workload dynamics. Prototyped in a iBalloon system, the distributed learning approach successfully manages 128 VMs on a 16-node close correlated cluster

Locomotion Trajectory Generation and Dynamic Control for Bipedal Walking Robots

Ph.DDOCTOR OF PHILOSOPH

Workshop on Fuzzy Control Systems and Space Station Applications

The Workshop on Fuzzy Control Systems and Space Station Applications was held on 14-15 Nov. 1990. The workshop was co-sponsored by McDonnell Douglas Space Systems Company and NASA Ames Research Center. Proceedings of the workshop are presented

Proceedings of The Multi-Agent Logics, Languages, and Organisations Federated Workshops (MALLOW 2010)

http://ceur-ws.org/Vol-627/allproceedings.pdfInternational audienceMALLOW-2010 is a third edition of a series initiated in 2007 in Durham, and pursued in 2009 in Turin. The objective, as initially stated, is to "provide a venue where: the cost of participation was minimum; participants were able to attend various workshops, so fostering collaboration and cross-fertilization; there was a friendly atmosphere and plenty of time for networking, by maximizing the time participants spent together"

Autonomic Management And Performance Optimization For Cloud Computing Services

Cloud computing has become an increasingly important computing paradigm. It offers three levels of on-demand services to cloud users: software as a service (SaaS), platform as a service (PaaS), and infrastructure as a service (IaaS) . The success of cloud services heavily depends on the effectiveness of cloud management strategies. In this dissertation work, we aim to design and implement an automatic cloud management system to improve application performance, increase platform efficiency and optimize resource allocation. For large-scale multi-component applications, especially web-based cloud applica- tions, parameter setting is crucial to the service availability and quality. The increas- ing system complexity requires an automatic and efficient application configuration strategy. To improve the quality of application services, we propose a reinforcement learning(RL)-based autonomic configuration framework. It is able to adapt appli- cation parameter settings not only to the variations in workload, but also to the change of virtual resource allocation. The RL approach is enhanced with an efficient initialization policy to reduce the learning time for online decision. Experiments on Xen-based virtual cluster with TPC-W benchmarks show that the framework can drive applications into a optimal configuration in less than 25 iterations. For cloud platform service, one of the key challenges is to efficiently adapt the offered platforms to the virtualized environment, meanwhile maintaining their service features. MapReduce has become an important distributed parallel programming paradigm. Offering MapReduce cloud service presents an attractive usage model for enterprises. In a virtual MapReduce cluster, the interference between virtual machines (VMs) causes performance degradation of map and reduce tasks and renders existing data locality-aware task scheduling policy, like delay scheduling, no longer effective. On the other hand, virtualization offers an extra opportunity of data locality for co-hosted VMs. To address these issues, we present a task scheduling strategy to mitigate interference and meanwhile preserving task data locality for MapReduce applications. The strategy includes an interference-aware scheduling policy, based on a task performance prediction model, and an adaptive delay scheduling algorithm for data locality improvement. Experimental results on a 72-node Xen-based virtual cluster show that the scheduler is able to achieve a speedup of 1.5 to 6.5 times for individual jobs and yield an improvement of up to 1.9 times in system throughput in comparison with four other MapReduce schedulers. Cloud computing has a key requirement for resource configuration in a real-time manner. In such virtualized environments, both virtual machines (VMs) and hosted applications need to be configured on-the fly to adapt to system dynamics. The in- terplay between the layers of VMs and applications further complicates the problem of cloud configuration. Independent tuning of each aspect may not lead to optimal system wide performance. In this work, we propose a framework for coordinated configuration of VMs and resident applications. At the heart of the framework is a model-free hybrid reinforcement learning (RL) approach, which combines the advan- tages of Simplex method and RL method and is further enhanced by the use of system knowledge guided exploration policies. Experimental results on Xen based virtualized environments with TPC-W and TPC-C benchmarks demonstrate that the framework is able to drive a virtual server cluster into an optimal or near-optimal configuration state on the fly, in response to the change of workload. It improves the systems throughput by more than 30% over independent tuning strategies. In comparison with the coordinated tuning strategies based on basic RL or Simplex algorithm, the hybrid RL algorithm gains 25% to 40% throughput improvement

Advances in Reinforcement Learning

Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic

Tracking the Temporal-Evolution of Supernova Bubbles in Numerical Simulations

The study of low-dimensional, noisy manifolds embedded in a higher dimensional space has been extremely useful in many applications, from the chemical analysis of multi-phase flows to simulations of galactic mergers. Building a probabilistic model of the manifolds has helped in describing their essential properties and how they vary in space. However, when the manifold is evolving through time, a joint spatio-temporal modelling is needed, in order to fully comprehend its nature. We propose a first-order Markovian process that propagates the spatial probabilistic model of a manifold at fixed time, to its adjacent temporal stages. The proposed methodology is demonstrated using a particle simulation of an interacting dwarf galaxy to describe the evolution of a cavity generated by a Supernov

Development of advanced autonomous learning algorithms for nonlinear system identification and control

Identification of nonlinear dynamical systems, data stream analysis, etc. is usually handled by autonomous learning algorithms like evolving fuzzy and evolving neuro-fuzzy systems (ENFSs). They are characterized by the single-pass learning mode and open structure-property. Such features enable their effective handling of fast and rapidly changing natures of data streams. The underlying bottleneck of ENFSs lies in its design principle, which involves a high number of free parameters (rule premise and rule consequent) to be adapted in the training process. This figure can even double in the case of the type-2 fuzzy system. From this literature gap, a novel ENFS, namely Parsimonious Learning Machine (PALM) is proposed in this thesis. To reduce the number of network parameters significantly, PALM features utilization of a new type of fuzzy rule based on the concept of hyperplane clustering, where it has no rule premise parameters. PALM is proposed in both type-1 and type-2 fuzzy systems where all of them characterize a fully dynamic rule-based system. Thus, it is capable of automatically generating, merging, and tuning the hyperplane-based fuzzy rule in a single-pass manner. Moreover, an extension of PALM, namely recurrent PALM (rPALM), is proposed and adopts the concept of teacher-forcing mechanism in the deep learning literature. The efficacy of both PALM and rPALM have been evaluated through numerical study with data streams and to identify nonlinear unmanned aerial vehicle system. The proposed models showcase significant improvements in terms of computational complexity and the number of required parameters against several renowned ENFSs while attaining comparable and often better predictive accuracy. The ENFSs have also been utilized to develop three autonomous intelligent controllers (AICons) in this thesis. They are namely Generic (G) controller, Parsimonious controller (PAC), and Reduced Parsimonious Controller (RedPAC). All these controllers start operating from scratch with an empty set of fuzzy rules, and no offline training is required. To cope with the dynamic behavior of the plant, these controllers can add, merge or prune the rules on demand. Among three AICons, the G-controller is built by utilizing an advanced incremental learning machine, namely Generic Evolving Neuro-Fuzzy Inference System. The integration of generalized adaptive resonance theory provides a compact structure of the G-controller. Consequently, the faster evolution of structure is witnessed, which lowers its computational cost. Another AICon namely, PAC is rooted with PALM's architecture. Since PALM has a dependency on user-defined thresholds to adapt the structure, these thresholds are replaced with the concept of bias- variance trade-off in PAC. In RedPAC, the network parameters have further reduced in contrast with PALM-based PAC, where the number of consequent parameters has reduced to one parameter per rule. These AICons work with very minor expert domain knowledge and developed by incorporating the sliding mode control technique. In G-controller and RedPAC, the control law and adaptation laws for the consequent parameters are derived from the SMC algorithm to establish a stable closed-loop system, where the stability of these controllers are guaranteed by using the Lyapunov function and the uniform asymptotic convergence of tracking error to zero is witnessed through the implication of an auxiliary robustifying control term. While using PAC, the boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Their efficacy is evaluated by observing various trajectory tracking performance of unmanned aerial vehicles. The accuracy of these controllers is comparable or better than the benchmark controllers where the proposed controllers incur significantly fewer parameters to attain similar or better tracking performance

Reinforcement learning in a multi-agent framework for pedestrian simulation

El objetivo de la tesis consiste en la utilización de Aprendizaje por refuerzo (Reinforcement Learning) para generar simulaciones plausibles de peatones en diferentes entornos. Metodología Se ha desarrollado un marco de trabajo multi-agente donde cada agente virtual que aprende un comportamiento de navegación por interacción con el mundo virtual en el que se encuentra junto con el resto de agentes. El mundo virtual es simulado con un motor físico (ODE) que está calibrado con parámetros de peatones humanos extraídos de la bibliografía de la materia. El marco de trabajo es flexible y permite utilizar diferentes algoritmos de aprendizaje (en concreto Q-Learning y Sarsa(lambda) en combinación con diferentes técnicas de generalización del espacio de estados (en concreto cuantización Vectorial y tile coding). Como herramientas de análisis de los comportamientos aprendidos se utilizan diagramas fundamentales (relación velocidad/densidad), mapas de densidad, cronogramas y rendimientos (en términos del porcentaje de agentes que consiguen llegar al objetivo). Conclusiones: Tras una batería de experimentos en diferentes escenarios (un total de 6 escenarios distintos) y los correspondientes analisis de resultados, las conclusiones son las siguientes: - Se han conseguido comportamientos plausibles de peatones -Los comportamientos son robustos al escalado y presentan capacidades de abstracción (comportamientos a niveles táctico y de planificación) -Los comportamientos aprendidos son capaces de generar comportamientos colectivos emergentes -La comparación con otro modelo de peatones estandar (Modelo de Helbing) y los análisis realizados a nivel de diagramas fundamentales, indican que la dinámica aprendida es coherente y similar a una dinámica de peatones

Imitation Learning of Motion Coordination in Robots:a Dynamical System Approach

The ease with which humans coordinate all their limbs is fascinating. Such a simplicity is the result of a complex process of motor coordination, i.e. the ability to resolve the biomechanical redundancy in an efficient and repeatable manner. Coordination enables a wide variety of everyday human activities from filling in a glass with water to pair figure skating. Therefore, it is highly desirable to endow robots with similar skills. Despite the apparent diversity of coordinated motions, all of them share a crucial similarity: these motions are dictated by underlying constraints. The constraints shape the formation of the coordination patterns between the different degrees of freedom. Coordination constraints may take a spatio-temporal form; for instance, during bimanual object reaching or while catching a ball on the fly. They also may relate to the dynamics of the task; for instance, when one applies a specific force profile to carry a load. In this thesis, we develop a framework for teaching coordination skills to robots. Coordination may take different forms, here, we focus on teaching a robot intra-limb and bimanual coordination, as well as coordination with a human during physical collaborative tasks. We use tools from well-established domains of Bayesian semiparametric learning (Gaussian Mixture Models and Regression, Hidden Markov Models), nonlinear dynamics, and adaptive control. We take a biologically inspired approach to robot control. Specifically, we adopt an imitation learning perspective to skill transfer, that offers a seamless and intuitive way of capturing the constraints contained in natural human movements. As the robot is taught from motion data provided by a human teacher, we exploit evidence from human motor control of the temporal evolution of human motions that may be described by dynamical systems. Throughout this thesis, we demonstrate that the dynamical system view on movement formation facilitates coordination control in robots. We explain how our framework for teaching coordination to a robot is built up, starting from intra-limb coordination and control, moving to bimanual coordination, and finally to physical interaction with a human. The dissertation opens with the discussion of learning discrete task-level coordination patterns, such as spatio-temporal constraints emerging between the two arms in bimanual manipulation tasks. The encoding of bimanual constraints occurs at the task level and proceeds through a discretization of the task as sequences of bimanual constraints. Once the constraints are learned, the robot utilizes them to couple the two dynamical systems that generate kinematic trajectories for the hands. Explicit coupling of the dynamical systems ensures accurate reproduction of the learned constraints, and proves to be crucial for successful accomplishment of the task. In the second part of this thesis, we consider learning one-arm control policies. We present an approach to extracting non-linear autonomous dynamical systems from kinematic data of arbitrary point-to-point motions. The proposed method aims to tackle the fundamental questions of learning robot coordination: (i) how to infer a motion representation that captures a multivariate coordination pattern between degrees of freedom and that generalizes this pattern to unseen contexts; (ii) whether the policy learned directly from demonstrations can provide robustness against spatial and temporal perturbations. Finally, we demonstrate that the developed dynamical system approach to coordination may go beyond kinematic motion learning. We consider physical interactions between a robot and a human in situations where they jointly perform manipulation tasks; in particular, the problem of collaborative carrying and positioning of a load. We extend the approach proposed in the second part of this thesis to incorporate haptic information into the learning process. As a result, the robot adapts its kinematic motion plan according to human intentions expressed through the haptic signals. Even after the robot has learned the task model, the human still remains a complex contact environment. To ensure robustness of the robot behavior in the face of the variability inherent to human movements, we wrap the learned task model in an adaptive impedance controller with automatic gain tuning. The techniques, developed in this thesis, have been applied to enable learning of unimanual and bimanual manipulation tasks on the robotics platforms HOAP-3, KATANA, and i-Cub, as well as to endow a pair of simulated robots with the ability to perform a manipulation task in the physical collaboration