Mobile computing with the Rover Toolkit

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (leaves 138-147).by Anthony Douglas Joseph.Ph.D

GPU Computing for Cognitive Robotics

This thesis presents the first investigation of the impact of GPU computing on cognitive robotics by providing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amounts of computational power, which was until recently provided mostly by standard CPU processors. CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into a highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. This impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This thesis presents several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity enabling the conducting of the novel experiments described herein.European Commission Seventh Framework Programm

Supporting service discovery, querying and interaction in ubiquitous computing environments.

In this paper, we contend that ubiquitous computing environments will be highly heterogeneous, service rich domains. Moreover, future applications will consequently be required to interact with multiple, specialised service location and interaction protocols simultaneously. We argue that existing service discovery techniques do not provide sufficient support to address the challenges of building applications targeted to these emerging environments. This paper makes a number of contributions. Firstly, using a set of short ubiquitous computing scenarios we identify several key limitations of existing service discovery approaches that reduce their ability to support ubiquitous computing applications. Secondly, we present a detailed analysis of requirements for providing effective support in this domain. Thirdly, we provide the design of a simple extensible meta-service discovery architecture that uses database techniques to unify service discovery protocols and addresses several of our key requirements. Lastly, we examine the lessons learnt through the development of a prototype implementation of our architecture

A Resource Intensive Traffic-Aware Scheme for Cluster-based Energy Conservation in Wireless Devices

Wireless traffic that is destined for a certain device in a network, can be exploited in order to minimize the availability and delay trade-offs, and mitigate the Energy consumption. The Energy Conservation (EC) mechanism can be node-centric by considering the traversed nodal traffic in order to prolong the network lifetime. This work describes a quantitative traffic-based approach where a clustered Sleep-Proxy mechanism takes place in order to enable each node to sleep according to the time duration of the active traffic that each node expects and experiences. Sleep-proxies within the clusters are created according to pairwise active-time comparison, where each node expects during the active periods, a requested traffic. For resource availability and recovery purposes, the caching mechanism takes place in case where the node for which the traffic is destined is not available. The proposed scheme uses Role-based nodes which are assigned to manipulate the traffic in a cluster, through the time-oriented backward difference traffic evaluation scheme. Simulation study is carried out for the proposed backward estimation scheme and the effectiveness of the end-to-end EC mechanism taking into account a number of metrics and measures for the effects while incrementing the sleep time duration under the proposed framework. Comparative simulation results show that the proposed scheme could be applied to infrastructure-less systems, providing energy-efficient resource exchange with significant minimization in the power consumption of each device.Comment: 6 pages, 8 figures, To appear in the proceedings of IEEE 14th International Conference on High Performance Computing and Communications (HPCC-2012) of the Third International Workshop on Wireless Networks and Multimedia (WNM-2012), 25-27 June 2012, Liverpool, U

Rover: Architectural Support for Exposing and Using Context

Technology has advanced to the point where many people feel it has created a world with an insurmountable amount of information. Information includes messages people send to each other, logged data from their activities, and the services available to them. This problem has been exaggerated in modern societies by high availability of Internet connectivity. All types of information contains context, whether they have been stated explicitly or understood implicitly. Understanding, handling, and using context represents one of the most critical steps towards coping with the amount of information available today. In this dissertation, we examine two topics: context and the design of a context-aware platform. We describe fundamental types of context associated with every piece of information and discuss issues which may occur when implementing a system which utilizes context. We present a context-aware platform called Rover. The Rover architecture provides a conceptual framework geared towards understanding how application developers can utilize a variety of aspects of context to assist the development of modern applications. To aid developers in figuring out what context may be useful in their application, we describe the concept of a Rover ecosystem: a logical organization analogous to how similar groups of people interact with each other. We also discuss how information and context can be shared between ecosystems. To examine the feasibility of the Rover architecture's conceptual framework, we have implemented a reference implementation of the core unit of a Rover ecosystem: the Rover server. We discuss the details of the Rover server and describe the implementation of an emergency response application which demonstrates the utility of the conceptual framework

Rover-II: A Context-Aware Middleware for Pervasive Computing Environment

It is well recognized that context plays a significant role in all human endeavors. All decisions are based on information which has to be interpreted in context. By making information systems context-aware we can have systems that significantly enhance human capabilities to make critical decisions. A major challenge of context-aware systems is to balance usability with generality and extensibility. The relevant context changes depending on the particular application. The model used to represent the context and its relationship to entities must be general enough to allow additions of context categories without redesign while remaining usable across many applications. Also, while efforts are put in by application designers and developers to make applications context-aware, these efforts are customized to specific needs of the target application, and only certain common contexts like location and time are taken into account. Therefore, a general framework is called for that can (i) efficiently maintain, represent and integrate contextual information, (ii) act as an integration platform where different applications can share contexts and (iii) provide relevant services to make efficient use of the contextual information. This dissertation presents: * a generic and effective context model - Rover Context Model (RoCoM) that is structured around four primitives: entities, events, relationships, and activities; and practically usable through the concept of templates, * a flexible, extensible and generic ontology - Rover Context Model Ontology (RoCoMO) supporting the model, that addresses the shortcomings of existing ontologies, * an effective mechanism of modeling the context of a situation, through the concept of relevant context, with the help of situation graph, efficiently handling and making best use of context information, * a context middleware - Rover-II, which serves as a framework for contextual information integration, that could be used not just to store and compile the contextual information, but also integrate relevant services to enhance the context information; and more importantly, enable sharing of context among the applications subscribed to it, * the initial design and implementation of a distributed architecture for Rover-II, following a P2P arrangement inspired from Tapestry, The above concepts are illustrated through M-Urgency, a context-aware public safety system that has been deployed at the University of Maryland Police Department

Mobile Databases: a Selection of Open Issues and Research Directions

International audienceThis paper reports on the main results of a specific action on mobile databases conducted by CNRS in France from October 2001 to December 2002. The objective of this action was to review the state of progress in mobile databases and identify major research directions for the French database community. Rather than provide a survey of all important issues in mobile databases, this paper gives an outline of the directions in which the action participants are now engaged, namely: copy synchronization in disconnected computing, mobile transactions, database embedded in ultra-light devices, data confidentiality, P2P dissemination models and middleware adaptability

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.http://dx.doi.org/10.1155/2012/95901

Issues in building mobile-aware applications with the Rover Toolkit

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1996.Includes bibliographical references (p. 69-73).by Joshua A. Tauber.M.S