Towards Loosely-Coupled Programming on Petascale Systems

We have extended the Falkon lightweight task execution framework to make loosely coupled programming on petascale systems a practical and useful programming model. This work studies and measures the performance factors involved in applying this approach to enable the use of petascale systems by a broader user community, and with greater ease. Our work enables the execution of highly parallel computations composed of loosely coupled serial jobs with no modifications to the respective applications. This approach allows a new-and potentially far larger-class of applications to leverage petascale systems, such as the IBM Blue Gene/P supercomputer. We present the challenges of I/O performance encountered in making this model practical, and show results using both microbenchmarks and real applications from two domains: economic energy modeling and molecular dynamics. Our benchmarks show that we can scale up to 160K processor-cores with high efficiency, and can achieve sustained execution rates of thousands of tasks per second.Comment: IEEE/ACM International Conference for High Performance Computing, Networking, Storage and Analysis (SuperComputing/SC) 200

Information fusion architectures for security and resource management in cyber physical systems

Data acquisition through sensors is very crucial in determining the operability of the observed physical entity. Cyber Physical Systems (CPSs) are an example of distributed systems where sensors embedded into the physical system are used in sensing and data acquisition. CPSs are a collaboration between the physical and the computational cyber components. The control decisions sent back to the actuators on the physical components from the computational cyber components closes the feedback loop of the CPS. Since, this feedback is solely based on the data collected through the embedded sensors, information acquisition from the data plays an extremely vital role in determining the operational stability of the CPS. Data collection process may be hindered by disturbances such as system faults, noise and security attacks. Hence, simple data acquisition techniques will not suffice as accurate system representation cannot be obtained. Therefore, more powerful methods of inferring information from collected data such as Information Fusion have to be used. Information fusion is analogous to the cognitive process used by humans to integrate data continuously from their senses to make inferences about their environment. Data from the sensors is combined using techniques drawn from several disciplines such as Adaptive Filtering, Machine Learning and Pattern Recognition. Decisions made from such combination of data form the crux of information fusion and differentiates it from a flat structured data aggregation. In this dissertation, multi-layered information fusion models are used to develop automated decision making architectures to service security and resource management requirements in Cyber Physical Systems --Abstract, page iv

NeBula: Team CoSTAR's robotic autonomy solution that won phase II of DARPA Subterranean Challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR¿s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004), and Defense Advanced Research Projects Agency (DARPA)

Wireless Sensor Technologies and Applications

Recent years have witnessed tremendous advances in the design and applications of wirelessly networked and embedded sensors. Wireless sensor nodes are typically low-cost, low-power, small devices equipped with limited sensing, data processing and wireless communication capabilities, as well as power supplies. They leverage the concept of wireless sensor networks (WSNs), in which a large (possibly huge) number of collaborative sensor nodes could be deployed. As an outcome of the convergence of micro-electro-mechanical systems (MEMS) technology, wireless communications, and digital electronics, WSNs represent a significant improvement over traditional sensors. In fact, the rapid evolution of WSN technology has accelerated the development and deployment of various novel types of wireless sensors, e.g., multimedia sensors. Fulfilling Moore’s law, wireless sensors are becoming smaller and cheaper, and at the same time more powerful and ubiquitous. [...

Underground Mining Monitoring and Communication Systems based on ZigBee and GIS

ZigBee as a wireless sensor network (WSN) was developed for underground mine monitoring and communication systems. The radio wave attenuations between ZigBee nodes were investigated to measure underground communication distances. Various sensor node arrangements of ZigBee topologies were evaluated. A system integration of a WSN-assisted GIS for underground mining monitoring and communication from a surface office was proposed. The controllable and uncontrollable parameters of underground environments were assessed to establish a reliable ZigBee network

Multi-Objective Task Scheduling Approach for Fog Computing

Despite the remarkable work conducted to improve fog computing applications’ efficiency, the task scheduling problem in such an environment is still a big challenge. Optimizing the task scheduling in these applications, i.e. critical healthcare applications, smart cities, and transportation is urgent to save energy, improve the quality of service, reduce the carbon emission rate, and improve the flow time. As proposed in much recent work, dealing with this problem as a single objective problem did not get the desired results. As a result, this paper presents a new multi-objective approach based on integrating the marine predator’s algorithm with the polynomial mutation mechanism (MHMPA) for task scheduling in fog computing environments. In the proposed algorithm, a trade-off between the makespan and the carbon emission ratio based on the Pareto optimality is produced. An external archive is utilized to store the non-dominated solutions generated from the optimization process. Also, another improved version based on the marine predator’s algorithm (MIMPA) by using the Cauchy distribution instead of the Gaussian distribution with the levy Flight to increase the algorithm’s convergence with avoiding stuck into local minima as possible is investigated in this manuscript. The experimental outcomes proved the superiority of the MIMPA over the standard one under various performance metrics. However, the MIMPA couldn’t overcome the MHMPA even after integrating the polynomial mutation strategy with the improved version. Furthermore, several well-known robust multi-objective optimization algorithms are used to test the efficacy of the proposed method. The experiment outcomes show that MHMPA could achieve better outcomes for the various employed performance metrics: Flow time, carbon emission rate, energy, and makespan with an improvement percentage of 414, 27257.46, 64151, and 2 for those metrics, respectively, compared to the second-best compared algorithm

Advances in Computational Intelligence Applications in the Mining Industry

This book captures advancements in the applications of computational intelligence (artificial intelligence, machine learning, etc.) to problems in the mineral and mining industries. The papers present the state of the art in four broad categories: mine operations, mine planning, mine safety, and advances in the sciences, primarily in image processing applications. Authors in the book include both researchers and industry practitioners

Application of rasch model on resilience in higher education: an examination of validity and reliability of Malaysian academician happiness index (MAHI)

This preliminary study was conducted to examine and verify the validity and reliability of the instrument on the Malaysian Academician Happiness Index (MAHI) on resilience. MAHI could be seen as a tool to measure the level of happiness and stress of academicians before determining how resilient the academicians were. Resilience can be defined as a mental ability of a person to recover quickly from illness or depression. MAHI instrument consisted of 66 items. The instrument was distributed to 40 academicians from three groups of universities which were the Focus University, Comprehensive University and Research University is using a survey technique. The instrument was developed to measure three main constructs which were the organization, individual and social that would affect the happiness and stress levels of academicians. This preliminary study employed the Rasch Measurement Model uses Winsteps software version 3.69.1.11. to examine the validity and reliability of the items. The results of the analysis of the MAHI instrument showed that the item reliability was 0.87, person reliability was 0.83 and value of Alpha Cronbach was 0.84. Meanwhile, misfit analysis showed that only there was one item with 1.46 logit that could be considered for dropping or needed improvement. Therefore, it highlighted that most of the items met the constructs’ need and can be used as a measurement indicator of MAHI. The implication of this instrument can help Malaysian academicians to be more resilient in facing challenges in the future