Efficient Irregular Wavefront Propagation Algorithms on Hybrid CPU-GPU Machines

In this paper, we address the problem of efficient execution of a computation pattern, referred to here as the irregular wavefront propagation pattern (IWPP), on hybrid systems with multiple CPUs and GPUs. The IWPP is common in several image processing operations. In the IWPP, data elements in the wavefront propagate waves to their neighboring elements on a grid if a propagation condition is satisfied. Elements receiving the propagated waves become part of the wavefront. This pattern results in irregular data accesses and computations. We develop and evaluate strategies for efficient computation and propagation of wavefronts using a multi-level queue structure. This queue structure improves the utilization of fast memories in a GPU and reduces synchronization overheads. We also develop a tile-based parallelization strategy to support execution on multiple CPUs and GPUs. We evaluate our approaches on a state-of-the-art GPU accelerated machine (equipped with 3 GPUs and 2 multicore CPUs) using the IWPP implementations of two widely used image processing operations: morphological reconstruction and euclidean distance transform. Our results show significant performance improvements on GPUs. The use of multiple CPUs and GPUs cooperatively attains speedups of 50x and 85x with respect to single core CPU executions for morphological reconstruction and euclidean distance transform, respectively.Comment: 37 pages, 16 figure

Soft-Defined Heterogeneous Vehicular Network: Architecture and Challenges

Heterogeneous Vehicular NETworks (HetVNETs) can meet various quality-of-service (QoS) requirements for intelligent transport system (ITS) services by integrating different access networks coherently. However, the current network architecture for HetVNET cannot efficiently deal with the increasing demands of rapidly changing network landscape. Thanks to the centralization and flexibility of the cloud radio access network (Cloud-RAN), soft-defined networking (SDN) can conveniently be applied to support the dynamic nature of future HetVNET functions and various applications while reducing the operating costs. In this paper, we first propose the multi-layer Cloud RAN architecture for implementing the new network, where the multi-domain resources can be exploited as needed for vehicle users. Then, the high-level design of soft-defined HetVNET is presented in detail. Finally, we briefly discuss key challenges and solutions for this new network, corroborating its feasibility in the emerging fifth-generation (5G) era

Security and Privacy Issues in Wireless Mesh Networks: A Survey

This book chapter identifies various security threats in wireless mesh network (WMN). Keeping in mind the critical requirement of security and user privacy in WMNs, this chapter provides a comprehensive overview of various possible attacks on different layers of the communication protocol stack for WMNs and their corresponding defense mechanisms. First, it identifies the security vulnerabilities in the physical, link, network, transport, application layers. Furthermore, various possible attacks on the key management protocols, user authentication and access control protocols, and user privacy preservation protocols are presented. After enumerating various possible attacks, the chapter provides a detailed discussion on various existing security mechanisms and protocols to defend against and wherever possible prevent the possible attacks. Comparative analyses are also presented on the security schemes with regards to the cryptographic schemes used, key management strategies deployed, use of any trusted third party, computation and communication overhead involved etc. The chapter then presents a brief discussion on various trust management approaches for WMNs since trust and reputation-based schemes are increasingly becoming popular for enforcing security in wireless networks. A number of open problems in security and privacy issues for WMNs are subsequently discussed before the chapter is finally concluded.Comment: 62 pages, 12 figures, 6 tables. This chapter is an extension of the author's previous submission in arXiv submission: arXiv:1102.1226. There are some text overlaps with the previous submissio

Modeling Data-Plane Power Consumption of Future Internet Architectures

With current efforts to design Future Internet Architectures (FIAs), the evaluation and comparison of different proposals is an interesting research challenge. Previously, metrics such as bandwidth or latency have commonly been used to compare FIAs to IP networks. We suggest the use of power consumption as a metric to compare FIAs. While low power consumption is an important goal in its own right (as lower energy use translates to smaller environmental impact as well as lower operating costs), power consumption can also serve as a proxy for other metrics such as bandwidth and processor load. Lacking power consumption statistics about either commodity FIA routers or widely deployed FIA testbeds, we propose models for power consumption of FIA routers. Based on our models, we simulate scenarios for measuring power consumption of content delivery in different FIAs. Specifically, we address two questions: 1) which of the proposed FIA candidates achieves the lowest energy footprint; and 2) which set of design choices yields a power-efficient network architecture? Although the lack of real-world data makes numerous assumptions necessary for our analysis, we explore the uncertainty of our calculations through sensitivity analysis of input parameters

Multi-robot team formation control in the GUARDIANS project

Purpose The GUARDIANS multi-robot team is to be deployed in a large warehouse in smoke. The team is to assist firefighters search the warehouse in the event or danger of a fire. The large dimensions of the environment together with development of smoke which drastically reduces visibility, represent major challenges for search and rescue operations. The GUARDIANS robots guide and accompany the firefighters on site whilst indicating possible obstacles and the locations of danger and maintaining communications links. Design/methodology/approach In order to fulfill the aforementioned tasks the robots need to exhibit certain behaviours. Among the basic behaviours are capabilities to stay together as a group, that is, generate a formation and navigate while keeping this formation. The control model used to generate these behaviours is based on the so-called social potential field framework, which we adapt to the specific tasks required for the GUARDIANS scenario. All tasks can be achieved without central control, and some of the behaviours can be performed without explicit communication between the robots. Findings The GUARDIANS environment requires flexible formations of the robot team: the formation has to adapt itself to the circumstances. Thus the application has forced us to redefine the concept of a formation. Using the graph-theoretic terminology, we can say that a formation may be stretched out as a path or be compact as a star or wheel. We have implemented the developed behaviours in simulation environments as well as on real ERA-MOBI robots commonly referred to as Erratics. We discuss advantages and shortcomings of our model, based on the simulations as well as on the implementation with a team of Erratics.</p

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future