New Science Gateways for Advanced Computing Simulations and Visualization Using Vine Toolkit in PL-Grid

A Science Gateway is a connection between scientists and their computational tools in the form of web portal. It creates a space for communities, collaboration and data sharing and visualization in a comprehensive and efficient manner. The main purpose of such a solution is to allow users to access the computational resources, process and analyze their data and get the results in a uniform and user friendly way. In this paper we propose a complex solution based on the Rich Internet Application (RIA) approach consisting of a web portal powered by Vine Toolkit with Adobe Flex/BlazeDs technologies. There are two Science Gateways described in detail one for engineers to manage computationally intensive workflows used in advanced airplane construction simulations, and one for nanotechnology scientists to manage experiments in nano-science field calculated with Density Functional Theory (DFT). In both cases the results show how modern web solution can help scientists in their work. &nbsp

Cognitive Task Planning for Smart Industrial Robots

This research work presents a novel Cognitive Task Planning framework for Smart Industrial Robots. The framework makes an industrial mobile manipulator robot Cognitive by applying Semantic Web Technologies. It also introduces a novel Navigation Among Movable Obstacles algorithm for robots navigating and manipulating inside a firm. The objective of Industrie 4.0 is the creation of Smart Factories: modular firms provided with cyber-physical systems able to strong customize products under the condition of highly flexible mass-production. Such systems should real-time communicate and cooperate with each other and with humans via the Internet of Things. They should intelligently adapt to the changing surroundings and autonomously navigate inside a firm while moving obstacles that occlude free paths, even if seen for the first time. At the end, in order to accomplish all these tasks while being efficient, they should learn from their actions and from that of other agents. Most of existing industrial mobile robots navigate along pre-generated trajectories. They follow ectrified wires embedded in the ground or lines painted on th efloor. When there is no expectation of environment changes and cycle times are critical, this planning is functional. When workspaces and tasks change frequently, it is better to plan dynamically: robots should autonomously navigate without relying on modifications of their environments. Consider the human behavior: humans reason about the environment and consider the possibility of moving obstacles if a certain goal cannot be reached or if moving objects may significantly shorten the path to it. This problem is named Navigation Among Movable Obstacles and is mostly known in rescue robotics. This work transposes the problem on an industrial scenario and tries to deal with its two challenges: the high dimensionality of the state space and the treatment of uncertainty. The proposed NAMO algorithm aims to focus exploration on less explored areas. For this reason it extends the Kinodynamic Motion Planning by Interior-Exterior Cell Exploration algorithm. The extension does not impose obstacles avoidance: it assigns an importance to each cell by combining the efforts necessary to reach it and that needed to free it from obstacles. The obtained algorithm is scalable because of its independence from the size of the map and from the number, shape, and pose of obstacles. It does not impose restrictions on actions to be performed: the robot can both push and grasp every object. Currently, the algorithm assumes full world knowledge but the environment is reconfigurable and the algorithm can be easily extended in order to solve NAMO problems in unknown environments. The algorithm handles sensor feedbacks and corrects uncertainties. Usually Robotics separates Motion Planning and Manipulation problems. NAMO forces their combined processing by introducing the need of manipulating multiple objects, often unknown, while navigating. Adopting standard precomputed grasps is not sufficient to deal with the big amount of existing different objects. A Semantic Knowledge Framework is proposed in support of the proposed algorithm by giving robots the ability to learn to manipulate objects and disseminate the information gained during the fulfillment of tasks. The Framework is composed by an Ontology and an Engine. The Ontology extends the IEEE Standard Ontologies for Robotics and Automation and contains descriptions of learned manipulation tasks and detected objects. It is accessible from any robot connected to the Cloud. It can be considered a data store for the efficient and reliable execution of repetitive tasks; and a Web-based repository for the exchange of information between robots and for the speed up of the learning phase. No other manipulation ontology exists respecting the IEEE Standard and, regardless the standard, the proposed ontology differs from the existing ones because of the type of features saved and the efficient way in which they can be accessed: through a super fast Cascade Hashing algorithm. The Engine lets compute and store the manipulation actions when not present in the Ontology. It is based on Reinforcement Learning techniques that avoid massive trainings on large-scale databases and favors human-robot interactions. The overall system is flexible and easily adaptable to different robots operating in different industrial environments. It is characterized by a modular structure where each software block is completely reusable. Every block is based on the open-source Robot Operating System. Not all industrial robot controllers are designed to be ROS-compliant. This thesis presents the method adopted during this research in order to Open Industrial Robot Controllers and create a ROS-Industrial interface for them

Portable Checkpointing for Parallel Applications

High Performance Computing (HPC) systems represent the peak of modern computational capability. As ever-increasing demands for computational power have fuelled the demand for ever-larger computing systems, modern HPC systems have grown to incorporate hundreds, thousands or as many as 130,000 processors. At these scales, the huge number of individual components in a single system makes the probability that a single component will fail quite high, with today's large HPC systems featuring mean times between failures on the order of hours or a few days. As many modern computational tasks require days or months to complete, fault tolerance becomes critical to HPC system design. The past three decades have seen significant amounts of research on parallel system fault tolerance. However, as most of it has been either theoretical or has focused on low-level solutions that are embedded into a particular operating system or type of hardware, this work has had little impact on real HPC systems. This thesis attempts to address this lack of impact by describing a high-level approach for implementing checkpoint/restart functionality that decouples the fault tolerance solution from the details of the operating system, system libraries and the hardware and instead connects it to the APIs implemented by the above components. The resulting solution enables applications that use these APIs to become self-checkpointing and self-restarting regardless of the the software/hardware platform that may implement the APIs. The particular focus of this thesis is on the problem of checkpoint/restart of parallel applications. It presents two theoretical checkpointing protocols, one for the message passing communication model and one for the shared memory model. The former is the first protocol to be compatible with application-level checkpointing of individual processes, while the latter is the first protocol that is compatible with arbitrary shared memory models, APIs, implementations and consistency protocols. These checkpointing protocols are used to implement checkpointing systems for applications that use the MPI and OpenMP parallel APIs, respectively, and are first in providing checkpoint/restart to arbitrary implementations of these popular APIs. Both checkpointing systems are extensively evaluated on multiple software/hardware platforms and are shown to feature low overheads