Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services

This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented

Ringo: Interactive Graph Analytics on Big-Memory Machines

We present Ringo, a system for analysis of large graphs. Graphs provide a way to represent and analyze systems of interacting objects (people, proteins, webpages) with edges between the objects denoting interactions (friendships, physical interactions, links). Mining graphs provides valuable insights about individual objects as well as the relationships among them. In building Ringo, we take advantage of the fact that machines with large memory and many cores are widely available and also relatively affordable. This allows us to build an easy-to-use interactive high-performance graph analytics system. Graphs also need to be built from input data, which often resides in the form of relational tables. Thus, Ringo provides rich functionality for manipulating raw input data tables into various kinds of graphs. Furthermore, Ringo also provides over 200 graph analytics functions that can then be applied to constructed graphs. We show that a single big-memory machine provides a very attractive platform for performing analytics on all but the largest graphs as it offers excellent performance and ease of use as compared to alternative approaches. With Ringo, we also demonstrate how to integrate graph analytics with an iterative process of trial-and-error data exploration and rapid experimentation, common in data mining workloads.Comment: 6 pages, 2 figure

Don't Repeat Yourself: Seamless Execution and Analysis of Extensive Network Experiments

This paper presents MACI, the first bespoke framework for the management, the scalable execution, and the interactive analysis of a large number of network experiments. Driven by the desire to avoid repetitive implementation of just a few scripts for the execution and analysis of experiments, MACI emerged as a generic framework for network experiments that significantly increases efficiency and ensures reproducibility. To this end, MACI incorporates and integrates established simulators and analysis tools to foster rapid but systematic network experiments. We found MACI indispensable in all phases of the research and development process of various communication systems, such as i) an extensive DASH video streaming study, ii) the systematic development and improvement of Multipath TCP schedulers, and iii) research on a distributed topology graph pattern matching algorithm. With this work, we make MACI publicly available to the research community to advance efficient and reproducible network experiments

MOLNs: A cloud platform for interactive, reproducible and scalable spatial stochastic computational experiments in systems biology using PyURDME

Computational experiments using spatial stochastic simulations have led to important new biological insights, but they require specialized tools, a complex software stack, as well as large and scalable compute and data analysis resources due to the large computational cost associated with Monte Carlo computational workflows. The complexity of setting up and managing a large-scale distributed computation environment to support productive and reproducible modeling can be prohibitive for practitioners in systems biology. This results in a barrier to the adoption of spatial stochastic simulation tools, effectively limiting the type of biological questions addressed by quantitative modeling. In this paper, we present PyURDME, a new, user-friendly spatial modeling and simulation package, and MOLNs, a cloud computing appliance for distributed simulation of stochastic reaction-diffusion models. MOLNs is based on IPython and provides an interactive programming platform for development of sharable and reproducible distributed parallel computational experiments

Measuring and Managing Answer Quality for Online Data-Intensive Services

Online data-intensive services parallelize query execution across distributed software components. Interactive response time is a priority, so online query executions return answers without waiting for slow running components to finish. However, data from these slow components could lead to better answers. We propose Ubora, an approach to measure the effect of slow running components on the quality of answers. Ubora randomly samples online queries and executes them twice. The first execution elides data from slow components and provides fast online answers; the second execution waits for all components to complete. Ubora uses memoization to speed up mature executions by replaying network messages exchanged between components. Our systems-level implementation works for a wide range of platforms, including Hadoop/Yarn, Apache Lucene, the EasyRec Recommendation Engine, and the OpenEphyra question answering system. Ubora computes answer quality much faster than competing approaches that do not use memoization. With Ubora, we show that answer quality can and should be used to guide online admission control. Our adaptive controller processed 37% more queries than a competing controller guided by the rate of timeouts.Comment: Technical Repor

Neuroimaging study designs, computational analyses and data provenance using the LONI pipeline.

Modern computational neuroscience employs diverse software tools and multidisciplinary expertise to analyze heterogeneous brain data. The classical problems of gathering meaningful data, fitting specific models, and discovering appropriate analysis and visualization tools give way to a new class of computational challenges--management of large and incongruous data, integration and interoperability of computational resources, and data provenance. We designed, implemented and validated a new paradigm for addressing these challenges in the neuroimaging field. Our solution is based on the LONI Pipeline environment [3], [4], a graphical workflow environment for constructing and executing complex data processing protocols. We developed study-design, database and visual language programming functionalities within the LONI Pipeline that enable the construction of complete, elaborate and robust graphical workflows for analyzing neuroimaging and other data. These workflows facilitate open sharing and communication of data and metadata, concrete processing protocols, result validation, and study replication among different investigators and research groups. The LONI Pipeline features include distributed grid-enabled infrastructure, virtualized execution environment, efficient integration, data provenance, validation and distribution of new computational tools, automated data format conversion, and an intuitive graphical user interface. We demonstrate the new LONI Pipeline features using large scale neuroimaging studies based on data from the International Consortium for Brain Mapping [5] and the Alzheimer's Disease Neuroimaging Initiative [6]. User guides, forums, instructions and downloads of the LONI Pipeline environment are available at http://pipeline.loni.ucla.edu