Improving efficiency, scalability and efficacy of adaptive computation offloading in pervasive computing environments

As computing becomes more mobile and pervasive, there is a growing demand for increasingly rich, and therefore more computationally heavy, applications to run in mobile spaces. However, there exists a disparity between mobile platforms and the desktop environments upon which computationally heavy applications have traditionally run, which is likely to persist as both domains evolve at a competing pace. Consequently, an active research area is Adaptive Computation Offloading or cyber foraging that dynamically distributes application functionality to available peer devices according to resource availability and application behaviour. Integral to any offloading strategy is an adaptive decision making algorithm that computes the optimal placement of application components to remote devices based on changing environmental context. As this decision is typically computed by constrained devices and may occur frequently in dynamic environments, such algorithms should be both resource efficient and yield efficacious adaptation results. However, existing adaptive offloading approaches incur a number of overheads, which limit their applicability in mobile and pervasive spaces. This thesis is concerned with improving upon these limitations by specifically focusing on the efficiency, scalability and efficacy aspects of two major sub processes of adaptation: 1) Adaptive Candidate Device Selection and 2) Adaptive Object Topology Computation. To this end, three novel approaches are proposed. Firstly, a distributed approach to candidate device selection, which reduces the need to communicate collaboration metrics, and allows for the partial distribution of adaptation decision-making, is proposed. The approach is shown to reduce network consumption by over 90% and power consumption by as much as 96%, while maintaining linear memory complexity in contrast to the quadratic complexity of an existing approach. Hence, the approach presents a more efficient and scalable alternative for candidate device selection in mobile and pervasive environments. Secondly, with regards to the efficacy of adaptive object topology computation, a new type of adaptation granularity that combines the efficacy of fine-grained adaptation with the efficiency of coarse level approaches is proposed. The approach is shown to improve the efficacy of adaptation decisions by reducing network overheads by a minimum of 17% to as much 99%, while maintaining comparable decision making efficiency to coarse level adaptation. Thirdly, with regards to efficiency and scalability of object topology computation, a novel distributed approach to computing adaptation decisions is proposed, in which each device maintains a distributed local application sub-graph, consisting only of components in its own memory space. The approach is shown to reduce network cost by 100%, collaboration-wide memory cost by between 37% and 50%, battery usage by between 63% and 93%, and adaptation time by between 19% and 98%. Lastly, since improving the utility of adaptation in mobile and pervasive environments requires the simultaneous improvement of its sub processes, an adaptation engine, which consolidates the individual approaches presented above, is proposed. The consolidated adaptation engine is shown to improve the overall efficiency, scalability and efficacy of adaptation under a varying range of environmental conditions, which simulate dynamic and heterogeneous mobile environments

Mobiilse värkvõrgu protsessihaldus

Värkvõrk, ehk Asjade Internet (Internet of Things, lüh IoT) edendab lahendusi nagu nn tark linn, kus meid igapäevaselt ümbritsevad objektid on ühendatud infosüsteemidega ja ka üksteisega. Selliseks näiteks võib olla teekatete seisukorra monitoorimissüsteem. Võrku ühendatud sõidukitelt (nt bussidelt) kogutakse videomaterjali, mida seejärel töödeldakse, et tuvastada löökauke või lume kogunemist. Tavaliselt hõlmab selline lahendus keeruka tsentraalse süsteemi ehitamist. Otsuste langetamiseks (nt milliseid sõidukeid parasjagu protsessi kaasata) vajab keskne süsteem pidevat ühendust kõigi IoT seadmetega. Seadmete hulga kasvades võib keskne lahendus aga muutuda pudelikaelaks. Selliste protsesside disaini, haldust, automatiseerimist ja seiret hõlbustavad märkimisväärselt äriprotsesside halduse (Business Process Management, lüh BPM) valdkonna standardid ja tööriistad. Paraku ei ole BPM tehnoloogiad koheselt kasutatavad uute paradigmadega nagu Udu- ja Servaarvutus, mis tuleviku värkvõrgu jaoks vajalikud on. Nende puhul liigub suur osa otsustustest ja arvutustest üksikutest andmekeskustest servavõrgu seadmetele, mis asuvad lõppkasutajatele ja IoT seadmetele lähemal. Videotöötlust võiks teostada mini-andmekeskustes, mis on paigaldatud üle linna, näiteks bussipeatustesse. Arvestades IoT seadmete üha suurenevat hulka, vähendab selline koormuse jaotamine vähendab riski, et tsentraalne andmekeskust ülekoormamist. Doktoritöö uurib, kuidas mobiilsusega seonduvaid IoT protsesse taoliselt ümber korraldada, kohanedes pidevalt muutlikule, liikuvate seadmetega täidetud servavõrgule. Nimelt on ühendused katkendlikud, mistõttu otsuste langetus ja planeerimine peavad arvestama muuhulgas mobiilseadmete liikumistrajektoore. Töö raames valminud prototüüpe testiti Android seadmetel ja simulatsioonides. Lisaks valmis tööriistakomplekt STEP-ONE, mis võimaldab teadlastel hõlpsalt simuleerida ja analüüsida taolisi probleeme erinevais realistlikes stsenaariumites nagu seda on tark linn.The Internet of Things (IoT) promotes solutions such as a smart city, where everyday objects connect with info systems and each other. One example is a road condition monitoring system, where connected vehicles, such as buses, capture video, which is then processed to detect potholes and snow build-up. Building such a solution typically involves establishing a complex centralised system. The centralised approach may become a bottleneck as the number of IoT devices keeps growing. It relies on constant connectivity to all involved devices to make decisions, such as which vehicles to involve in the process. Designing, automating, managing, and monitoring such processes can greatly be supported using the standards and software systems provided by the field of Business Process Management (BPM). However, BPM techniques are not directly applicable to new computing paradigms, such as Fog Computing and Edge Computing, on which the future of IoT relies. Here, a lot of decision-making and processing is moved from central data-centers to devices in the network edge, near the end-users and IoT sensors. For example, video could be processed in mini-datacenters deployed throughout the city, e.g., at bus stops. This load distribution reduces the risk of the ever-growing number of IoT devices overloading the data center. This thesis studies how to reorganise the process execution in this decentralised fashion, where processes must dynamically adapt to the volatile edge environment filled with moving devices. Namely, connectivity is intermittent, so decision-making and planning need to involve factors such as the movement trajectories of mobile devices. We examined this issue in simulations and with a prototype for Android smartphones. We also showcase the STEP-ONE toolset, allowing researchers to conveniently simulate and analyse these issues in different realistic scenarios, such as those in a smart city.  https://www.ester.ee/record=b552551

Multisite adaptive computation offloading for mobile cloud applications

The sheer amount of mobile devices and their fast adaptability have contributed to the proliferation of modern advanced mobile applications. These applications have characteristics such as latency-critical and demand high availability. Also, these kinds of applications often require intensive computation resources and excessive energy consumption for processing, a mobile device has limited computation and energy capacity because of the physical size constraints. The heterogeneous mobile cloud environment consists of different computing resources such as remote cloud servers in faraway data centres, cloudlets whose goal is to bring the cloud closer to the users, and nearby mobile devices that can be utilised to offload mobile tasks. Heterogeneity in mobile devices and the different sites include software, hardware, and technology variations. Resource-constrained mobile devices can leverage the shared resource environment to offload their intensive tasks to conserve battery life and improve the overall application performance. However, with such a loosely coupled and mobile device dominating network, new challenges and problems such as how to seamlessly leverage mobile devices with all the offloading sites, how to simplify deploying runtime environment for serving offloading requests from mobile devices, how to identify which parts of the mobile application to offload and how to decide whether to offload them and how to select the most optimal candidate offloading site among others. To overcome the aforementioned challenges, this research work contributes the design and implementation of MAMoC, a loosely coupled end-to-end mobile computation offloading framework. Mobile applications can be adapted to the client library of the framework while the server components are deployed to the offloading sites for serving offloading requests. The evaluation of the offloading decision engine demonstrates the viability of the proposed solution for managing seamless and transparent offloading in distributed and dynamic mobile cloud environments. All the implemented components of this work are publicly available at the following URL: https://github.com/mamoc-repo

Towards edge robotics: the progress from cloud-based robotic systems to intelligent and context-aware robotic services

Current robotic systems handle a different range of applications such as video surveillance, delivery of goods, cleaning, material handling, assembly, painting, or pick and place services. These systems have been embraced not only by the general population but also by the vertical industries to help them in performing daily activities. Traditionally, the robotic systems have been deployed in standalone robots that were exclusively dedicated to performing a specific task such as cleaning the floor in indoor environments. In recent years, cloud providers started to offer their infrastructures to robotic systems for offloading some of the robot’s functions. This ultimate form of the distributed robotic system was first introduced 10 years ago as cloud robotics and nowadays a lot of robotic solutions are appearing in this form. As a result, standalone robots became software-enhanced objects with increased reconfigurability as well as decreased complexity and cost. Moreover, by offloading the heavy processing from the robot to the cloud, it is easier to share services and information from various robots or agents to achieve better cooperation and coordination. Cloud robotics is suitable for human-scale responsive and delay-tolerant robotic functionalities (e.g., monitoring, predictive maintenance). However, there is a whole set of real-time robotic applications (e.g., remote control, motion planning, autonomous navigation) that can not be executed with cloud robotics solutions, mainly because cloud facilities traditionally reside far away from the robots. While the cloud providers can ensure certain performance in their infrastructure, very little can be ensured in the network between the robots and the cloud, especially in the last hop where wireless radio access networks are involved. Over the last years advances in edge computing, fog computing, 5G NR, network slicing, Network Function Virtualization (NFV), and network orchestration are stimulating the interest of the industrial sector to satisfy the stringent and real-time requirements of their applications. Robotic systems are a key piece in the industrial digital transformation and their benefits are very well studied in the literature. However, designing and implementing a robotic system that integrates all the emerging technologies and meets the connectivity requirements (e.g., latency, reliability) is an ambitious task. This thesis studies the integration of modern Information andCommunication Technologies (ICTs) in robotic systems and proposes some robotic enhancements that tackle the real-time constraints of robotic services. To evaluate the performance of the proposed enhancements, this thesis departs from the design and prototype implementation of an edge native robotic system that embodies the concepts of edge computing, fog computing, orchestration, and virtualization. The proposed edge robotics system serves to represent two exemplary robotic applications. In particular, autonomous navigation of mobile robots and remote-control of robot manipulator where the end-to-end robotic system is distributed between the robots and the edge server. The open-source prototype implementation of the designed edge native robotic system resulted in the creation of two real-world testbeds that are used in this thesis as a baseline scenario for the evaluation of new innovative solutions in robotic systems. After detailing the design and prototype implementation of the end-to-end edge native robotic system, this thesis proposes several enhancements that can be offered to robotic systems by adapting the concept of edge computing via the Multi-Access Edge Computing (MEC) framework. First, it proposes exemplary network context-aware enhancements in which the real-time information about robot connectivity and location can be used to dynamically adapt the end-to-end system behavior to the actual status of the communication (e.g., radio channel). Three different exemplary context-aware enhancements are proposed that aim to optimize the end-to-end edge native robotic system. Later, the thesis studies the capability of the edge native robotic system to offer potential savings by means of computation offloading for robot manipulators in different deployment configurations. Further, the impact of different wireless channels (e.g., 5G, 4G andWi-Fi) to support the data exchange between a robot manipulator and its remote controller are assessed. In the following part of the thesis, the focus is set on how orchestration solutions can support mobile robot systems to make high quality decisions. The application of OKpi as an orchestration algorithm and DLT-based federation are studied to meet the KPIs that autonomously controlledmobile robots have in order to provide uninterrupted connectivity over the radio access network. The elaborated solutions present high compatibility with the designed edge robotics system where the robot driving range is extended without any interruption of the end-to-end edge robotics service. While the DLT-based federation extends the robot driving range by deploying access point extension on top of external domain infrastructure, OKpi selects the most suitable access point and computing resource in the cloud-to-thing continuum in order to fulfill the latency requirements of autonomously controlled mobile robots. To conclude the thesis the focus is set on how robotic systems can improve their performance by leveraging Artificial Intelligence (AI) and Machine Learning (ML) algorithms to generate smart decisions. To do so, the edge native robotic system is presented as a true embodiment of a Cyber-Physical System (CPS) in Industry 4.0, showing the mission of AI in such concept. It presents the key enabling technologies of the edge robotic system such as edge, fog, and 5G, where the physical processes are integrated with computing and network domains. The role of AI in each technology domain is identified by analyzing a set of AI agents at the application and infrastructure level. In the last part of the thesis, the movement prediction is selected to study the feasibility of applying a forecast-based recovery mechanism for real-time remote control of robotic manipulators (FoReCo) that uses ML to infer lost commands caused by interference in the wireless channel. The obtained results are showcasing the its potential in simulation and real-world experimentation.Programa de Doctorado en Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Karl Holger.- Secretario: Joerg Widmer.- Vocal: Claudio Cicconett

Edge-Cloud Polarization and Collaboration: A Comprehensive Survey for AI

Influenced by the great success of deep learning via cloud computing and the rapid development of edge chips, research in artificial intelligence (AI) has shifted to both of the computing paradigms, i.e., cloud computing and edge computing. In recent years, we have witnessed significant progress in developing more advanced AI models on cloud servers that surpass traditional deep learning models owing to model innovations (e.g., Transformers, Pretrained families), explosion of training data and soaring computing capabilities. However, edge computing, especially edge and cloud collaborative computing, are still in its infancy to announce their success due to the resource-constrained IoT scenarios with very limited algorithms deployed. In this survey, we conduct a systematic review for both cloud and edge AI. Specifically, we are the first to set up the collaborative learning mechanism for cloud and edge modeling with a thorough review of the architectures that enable such mechanism. We also discuss potentials and practical experiences of some on-going advanced edge AI topics including pretraining models, graph neural networks and reinforcement learning. Finally, we discuss the promising directions and challenges in this field.Comment: 20 pages, Transactions on Knowledge and Data Engineerin

A game-theoretic approach to computation offloading in mobile cloud computing

We consider a three-tier architecture for mobile and pervasive computing scenarios, consisting of a local tier ofmobile nodes, a middle tier (cloudlets) of nearby computing nodes, typically located at the mobile nodes access points but characterized by a limited amount of resources, and a remote tier of distant cloud servers, which have practically infinite resources. This architecture has been proposed to get the benefits of computation offloading from mobile nodes to external servers while limiting the use of distant servers whose higher latency could negatively impact the user experience. For this architecture, we consider a usage scenario where no central authority exists and multiple non-cooperative mobile users share the limited computing resources of a close-by cloudlet and can selfishly decide to send their computations to any of the three tiers. We define a model to capture the users interaction and to investigate the effects of computation offloading on the users’ perceived performance. We formulate the problem as a generalized Nash equilibrium problem and show existence of an equilibrium.We present a distributed algorithm for the computation of an equilibrium which is tailored to the problem structure and is based on an in-depth analysis of the underlying equilibrium problem. Through numerical examples, we illustrate its behavior and the characteristics of the achieved equilibria