7,332 research outputs found
On environments as systemic exoskeletons: Crosscutting optimizers and antifragility enablers
Classic approaches to General Systems Theory often adopt an individual
perspective and a limited number of systemic classes. As a result, those
classes include a wide number and variety of systems that result equivalent to
each other. This paper introduces a different approach: First, systems
belonging to a same class are further differentiated according to five major
general characteristics. This introduces a "horizontal dimension" to system
classification. A second component of our approach considers systems as nested
compositional hierarchies of other sub-systems. The resulting "vertical
dimension" further specializes the systemic classes and makes it easier to
assess similarities and differences regarding properties such as resilience,
performance, and quality-of-experience. Our approach is exemplified by
considering a telemonitoring system designed in the framework of Flemish
project "Little Sister". We show how our approach makes it possible to design
intelligent environments able to closely follow a system's horizontal and
vertical organization and to artificially augment its features by serving as
crosscutting optimizers and as enablers of antifragile behaviors.Comment: Accepted for publication in the Journal of Reliable Intelligent
Environments. Extends conference papers [10,12,15]. The final publication is
available at Springer via http://dx.doi.org/10.1007/s40860-015-0006-
SPINN: Synergistic Progressive Inference of Neural Networks over Device and Cloud
Despite the soaring use of convolutional neural networks (CNNs) in mobile
applications, uniformly sustaining high-performance inference on mobile has
been elusive due to the excessive computational demands of modern CNNs and the
increasing diversity of deployed devices. A popular alternative comprises
offloading CNN processing to powerful cloud-based servers. Nevertheless, by
relying on the cloud to produce outputs, emerging mission-critical and
high-mobility applications, such as drone obstacle avoidance or interactive
applications, can suffer from the dynamic connectivity conditions and the
uncertain availability of the cloud. In this paper, we propose SPINN, a
distributed inference system that employs synergistic device-cloud computation
together with a progressive inference method to deliver fast and robust CNN
inference across diverse settings. The proposed system introduces a novel
scheduler that co-optimises the early-exit policy and the CNN splitting at run
time, in order to adapt to dynamic conditions and meet user-defined
service-level requirements. Quantitative evaluation illustrates that SPINN
outperforms its state-of-the-art collaborative inference counterparts by up to
2x in achieved throughput under varying network conditions, reduces the server
cost by up to 6.8x and improves accuracy by 20.7% under latency constraints,
while providing robust operation under uncertain connectivity conditions and
significant energy savings compared to cloud-centric execution.Comment: Accepted at the 26th Annual International Conference on Mobile
Computing and Networking (MobiCom), 202
Jointly Optimizing Placement and Inference for Beacon-based Localization
The ability of robots to estimate their location is crucial for a wide
variety of autonomous operations. In settings where GPS is unavailable,
measurements of transmissions from fixed beacons provide an effective means of
estimating a robot's location as it navigates. The accuracy of such a
beacon-based localization system depends both on how beacons are distributed in
the environment, and how the robot's location is inferred based on noisy and
potentially ambiguous measurements. We propose an approach for making these
design decisions automatically and without expert supervision, by explicitly
searching for the placement and inference strategies that, together, are
optimal for a given environment. Since this search is computationally
expensive, our approach encodes beacon placement as a differential neural layer
that interfaces with a neural network for inference. This formulation allows us
to employ standard techniques for training neural networks to carry out the
joint optimization. We evaluate this approach on a variety of environments and
settings, and find that it is able to discover designs that enable high
localization accuracy.Comment: Appeared at 2017 International Conference on Intelligent Robots and
Systems (IROS
- …