Evaluating the Use of sUAS-Derived Imagery for Monitoring Flood Protection Infrastructure

In the US there are approximately 33,000 miles of levees. This includes 14,500 miles of levee systems associated with US Army Corps of Engineers programs and approximately 15,000 miles from other state and federal agencies. More than 14 million people live behind levees and associated flood prevention infrastructure. Monitoring and risk assessment are an on-going process, especially during times of flood conditions. The city of New Orleans was heavily impacted by Hurricane Katrina in 2005 by storm surges and intense rainfall. The impact of the hurricane was substantial enough to cause levee failure and I-wall toppling where many of the levees were breached and waters flooded the city. Subsidence and increasing population are likely to make flooding events more frequent and costly. As new technologies emerge, monitoring and risk assessment can benefit to increase community resiliency. In this research, I investigate the use of the structure from motion photogrammetric method to monitor positional changes in invariant objects such as levees, specifically, I-walls. This method uses conventional digital images from multiple view locations and angles by either a moving aerial platform or terrestrial photography. Using parallel coded software and accompanying hardware, 3D point clouds, digital surface models and orthophotos can be created. By providing comparisons of similar processing workflows with a variety of imaging acquisition criteria using commercially available unmanned aerial systems (UAS), we created multiple image sets of a simulated I-wall at various flight elevations, look angles, and effective overlap. The comparisons can be used for sensor selection and mission planning to improve the quality of the final product

VIoLET: A Large-scale Virtual Environment for Internet of Things

IoT deployments have been growing manifold, encompassing sensors, networks, edge, fog and cloud resources. Despite the intense interest from researchers and practitioners, most do not have access to large-scale IoT testbeds for validation. Simulation environments that allow analytical modeling are a poor substitute for evaluating software platforms or application workloads in realistic computing environments. Here, we propose VIoLET, a virtual environment for defining and launching large-scale IoT deployments within cloud VMs. It offers a declarative model to specify container-based compute resources that match the performance of the native edge, fog and cloud devices using Docker. These can be inter-connected by complex topologies on which private/public networks, and bandwidth and latency rules are enforced. Users can configure synthetic sensors for data generation on these devices as well. We validate VIoLET for deployments with > 400 devices and > 1500 device-cores, and show that the virtual IoT environment closely matches the expected compute and network performance at modest costs. This fills an important gap between IoT simulators and real deployments.Comment: To appear in the Proceedings of the 24TH International European Conference On Parallel and Distributed Computing (EURO-PAR), August 27-31, 2018, Turin, Italy, europar2018.org. Selected as a Distinguished Paper for presentation at the Plenary Session of the conferenc

ASCR/HEP Exascale Requirements Review Report

This draft report summarizes and details the findings, results, and recommendations derived from the ASCR/HEP Exascale Requirements Review meeting held in June, 2015. The main conclusions are as follows. 1) Larger, more capable computing and data facilities are needed to support HEP science goals in all three frontiers: Energy, Intensity, and Cosmic. The expected scale of the demand at the 2025 timescale is at least two orders of magnitude -- and in some cases greater -- than that available currently. 2) The growth rate of data produced by simulations is overwhelming the current ability, of both facilities and researchers, to store and analyze it. Additional resources and new techniques for data analysis are urgently needed. 3) Data rates and volumes from HEP experimental facilities are also straining the ability to store and analyze large and complex data volumes. Appropriately configured leadership-class facilities can play a transformational role in enabling scientific discovery from these datasets. 4) A close integration of HPC simulation and data analysis will aid greatly in interpreting results from HEP experiments. Such an integration will minimize data movement and facilitate interdependent workflows. 5) Long-range planning between HEP and ASCR will be required to meet HEP's research needs. To best use ASCR HPC resources the experimental HEP program needs a) an established long-term plan for access to ASCR computational and data resources, b) an ability to map workflows onto HPC resources, c) the ability for ASCR facilities to accommodate workflows run by collaborations that can have thousands of individual members, d) to transition codes to the next-generation HPC platforms that will be available at ASCR facilities, e) to build up and train a workforce capable of developing and using simulations and analysis to support HEP scientific research on next-generation systems.Comment: 77 pages, 13 Figures; draft report, subject to further revisio

Rise of the Planet of Serverless Computing: A Systematic Review

Serverless computing is an emerging cloud computing paradigm, being adopted to develop a wide range of software applications. It allows developers to focus on the application logic in the granularity of function, thereby freeing developers from tedious and error-prone infrastructure management. Meanwhile, its unique characteristic poses new challenges to the development and deployment of serverless-based applications. To tackle these challenges, enormous research efforts have been devoted. This paper provides a comprehensive literature review to characterize the current research state of serverless computing. Specifically, this paper covers 164 papers on 17 research directions of serverless computing, including performance optimization, programming framework, application migration, multi-cloud development, testing and debugging, etc. It also derives research trends, focus, and commonly-used platforms for serverless computing, as well as promising research opportunities

Mapping and Real-Time Navigation With Application to Small UAS Urgent Landing

Small Unmanned Aircraft Systems (sUAS) operating in low-altitude airspace require flight near buildings and over people. Robust urgent landing capabilities including landing site selection are needed. However, conventional fixed-wing emergency landing sites such as open fields and empty roadways are rare in cities. This motivates our work to uniquely consider unoccupied flat rooftops as possible nearby landing sites. We propose novel methods to identify flat rooftop buildings, isolate their flat surfaces, and find touchdown points that maximize distance to obstacles. We model flat rooftop surfaces as polygons that capture their boundaries and possible obstructions on them. This thesis offers five specific contributions to support urgent rooftop landing. First, the Polylidar algorithm is developed which enables efficient non-convex polygon extraction with interior holes from 2D point sets. A key insight of this work is a novel boundary following method that contrasts computationally expensive geometric unions of triangles. Results from real-world and synthetic benchmarks show comparable accuracy and more than four times speedup compared to other state-of-the-art methods. Second, we extend polygon extraction from 2D to 3D data where polygons represent flat surfaces and interior holes representing obstacles. Our Polylidar3D algorithm transforms point clouds into a triangular mesh where dominant plane normals are identified and used to parallelize and regularize planar segmentation and polygon extraction. The result is a versatile and extremely fast algorithm for non-convex polygon extraction of 3D data. Third, we propose a framework for classifying roof shape (e.g., flat) within a city. We process satellite images, airborne LiDAR point clouds, and building outlines to generate both a satellite and depth image of each building. Convolutional neural networks are trained for each modality to extract high level features and sent to a random forest classifier for roof shape prediction. This research contributes the largest multi-city annotated dataset with over 4,500 rooftops used to train and test models. Our results show flat-like rooftops are identified with > 90% precision and recall. Fourth, we integrate Polylidar3D and our roof shape prediction model to extract flat rooftop surfaces from archived data sources. We uniquely identify optimal touchdown points for all landing sites. We model risk as an innovative combination of landing site and path risk metrics and conduct a multi-objective Pareto front analysis for sUAS urgent landing in cities. Our proposed emergency planning framework guarantees a risk-optimal landing site and flight plan is selected. Fifth, we verify a chosen rooftop landing site on real-time vertical approach with on-board LiDAR and camera sensors. Our method contributes an innovative fusion of semantic segmentation using neural networks with computational geometry that is robust to individual sensor and method failure. We construct a high-fidelity simulated city in the Unreal game engine with a statistically-accurate representation of rooftop obstacles. We show our method leads to greater than 4% improvement in accuracy for landing site identification compared to using LiDAR only. This work has broad impact for the safety of sUAS in cities as well as Urban Air Mobility (UAM). Our methods identify thousands of additional rooftop landing sites in cities which can provide safe landing zones in the event of emergencies. However, the maps we create are limited by the availability, accuracy, and resolution of archived data. Methods for quantifying data uncertainty or performing real-time map updates from a fleet of sUAS are left for future work.PHDRoboticsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/170026/1/jdcasta_1.pd

Assessment of Structure from Motion for Reconnaissance Augmentation and Bandwidth Usage Reduction

Modern militaries rely upon remote image sensors for real-time intelligence. A typical remote system consists of an unmanned aerial vehicle, or UAV, with an attached camera. A video stream is sent from the UAV, through a bandwidth-constrained satellite connection, to an intelligence processing unit. In this research, an upgrade to this method of collection is proposed. A set of synthetic images of a scene captured by a UAV in a virtual environment is sent to a pipeline of computer vision algorithms, collectively known as Structure from Motion. The output of Structure from Motion, a three-dimensional model, is then assessed in a 3D virtual world as a possible replacement for the images from which it was created. This study shows Structure from Motion results from a modifiable spiral flight path and compares the geoaccuracy of each result. A flattening of height is observed, and an automated compensation for this flattening is performed. Each reconstruction is also compressed, and the size of the compression is compared with the compressed size of the images from which it was created. A reduction of 49-60% of required space is shown

Interactive GPU-based generation of solvent-excluded surfaces

The solvent-excluded surface (SES) is a popular molecular representation that gives the boundary of the molecular volume with respect to a specific solvent. SESs depict which areas of a molecule are accessible by a specific solvent, which is represented as a spherical probe. Despite the popularity of SESs, their generation is still a compute-intensive process, which is often performed in a preprocessing stage prior to the actual rendering (except for small models). For dynamic data or varying probe radii, however, such a preprocessing is not feasible as it prevents interactive visual analysis. Thus, we present a novel approach for the on-the-fly generation of SESs, a highly parallelizable, grid-based algorithm where the SES is rendered using ray-marching. By exploiting modern GPUs, we are able to rapidly generate SESs directly within the mapping stage of the visualization pipeline. Our algorithm can be applied to large time-varying molecules and is scalable, as it can progressively refine the SES if GPU capabilities are insufficient. In this paper, we show how our algorithm is realized and how smooth transitions are achieved during progressive refinement. We further show visual results obtained from real-world data and discuss the performance obtained, which improves upon previous techniques in both the size of the molecules that can be handled and the resulting frame rate.Peer ReviewedPostprint (author's final draft