Runtime resource management for vision-based applications in mobile robots

Computer-vision (CV) applications are an important part of mobile robot automation, analyzing the perceived raw data from vision sensors and providing a rich amount of information on the surrounding environment. The design of a high-speed and energy-efficient CV application for a resource-constrained mobile robot, while maintaining a certain targeted level of accuracy in computation, is a challenging task. This is because such applications demand a lot of resources, e.g. computing capacity and battery energy, to run seamlessly in real time. Moreover, there is always a trade-off between accuracy, performance and energy consumption, as these factors dynamically affect each other at runtime. In this thesis, we investigate novel runtime resource management approaches to improve performance and energy efficiency of vision-based applications in mobile robots. Due to the dynamic correlation between different management objectives, such as energy consumption and execution time, both environmental and computational observations need to be dynamically updated, and the actuators are manipulated at runtime based on these observations. Algorithmic and computational parameters of a CV application (output accuracy and CPU voltage/frequency) are adjusted by measuring the key factors associated with the intensity of computations and strain on CPUs (environmental complexity and instantaneous power). Furthermore, we show how mechanical characteristics of the robot, i.e. the speed of movement in this thesis, can affect the computational behaviour. Based on this investigation, we add the speed of a robot, as an actuator, to our resource management algorithm besides the considered computational knobs (output accuracy and CPU voltage/frequency). To evaluate the proposed approach, we perform several experiments on an unmanned ground vehicle equipped with an embedded computer board and use RGB and event cameras as the vision sensors for CV applications. The obtained results show that the presented management strategy improves the performance and accuracy of vision-based applications while significantly reducing the energy consumption compared with the state-of-the-art solutions. Moreover, we demonstrate that considering simultaneously both computational and mechanical aspects in management of CV applications running on mobile robots significantly reduces the energy consumption compared with similar methods that consider these two aspects separately, oblivious to each other’s outcome

Achieving Accurate Predictions of Future Events Under Hardware Heterogeneity

Heterogeneous hardware is becoming increasingly available in modern hardware, while research breakthroughs enforce the expectation that heterogeneity will keep increasing in the future. Significant gains can be achieved via appropriate utilization of heterogeneity, in terms of performance and power consumption, however, poor utilization can have a detrimental effect. Intelligent scheduling and resource management is a crucial challenge we need to overcome in order to harvest the full potential of heterogeneous hardware. As systems become larger and include greater levels of hardware diversity, the importance of intelligent scheduling and resource management is further accentuated.This dissertation presents techniques that aid the process of scheduling and resource management in the presence of heterogeneous hardware, via accurately predicting upcoming runtime events. With a proactive and accurate view of the near future, schedulers can utilize the underlying hardware more efficiently, and fully take advantage of the available benefits.By adapting a majority element heuristic, this dissertation significantly improves the accuracy of predicting memory addresses about to be accessed, while reducing prediction-related costs by a factor of ten thousand compared to previously proposed predictive approaches. Coupled with novel microarchitectural modifications, accurate address predictions are shown to improve the performance of heterogeneous memory architectures.Machine learning-based performance predictors are further presented, capable of predicting a program's performance when executed on a given general-purpose core. Trained to model the subtleties of the interaction between hardware and software, these predictors are capable of generating highly accurate predictions even for cores with varied Instruction Set Architectures. Utilizing these performance predictions for job scheduling, is shown to improve overall system performance. The trained predictors are further examined and interpreted in order to visualize the correlations between features picked up and amplified during training.Finally, this dissertation demonstrates that scheduling algorithms cannot guarantee deriving an optimal schedule during realistic execution scenarios due to the underlying hardware heterogeneity, the wide range of runtime requirements of software, as well as prediction error from performance predictors. In response, deep neural networks are trained to select one scheduling approach from a list of options with varied overheads and correctness guarantees. The scheduling approach chosen, is the one which will most likely return the highest-performance schedule with the lowest overhead, given a particular instance of the job-to-core assignment problem

Computational Multimedia for Video Self Modeling

Video self modeling (VSM) is a behavioral intervention technique in which a learner models a target behavior by watching a video of oneself. This is the idea behind the psychological theory of self-efficacy - you can learn or model to perform certain tasks because you see yourself doing it, which provides the most ideal form of behavior modeling. The effectiveness of VSM has been demonstrated for many different types of disabilities and behavioral problems ranging from stuttering, inappropriate social behaviors, autism, selective mutism to sports training. However, there is an inherent difficulty associated with the production of VSM material. Prolonged and persistent video recording is required to capture the rare, if not existed at all, snippets that can be used to string together in forming novel video sequences of the target skill. To solve this problem, in this dissertation, we use computational multimedia techniques to facilitate the creation of synthetic visual content for self-modeling that can be used by a learner and his/her therapist with a minimum amount of training data. There are three major technical contributions in my research. First, I developed an Adaptive Video Re-sampling algorithm to synthesize realistic lip-synchronized video with minimal motion jitter. Second, to denoise and complete the depth map captured by structure-light sensing systems, I introduced a layer based probabilistic model to account for various types of uncertainties in the depth measurement. Third, I developed a simple and robust bundle-adjustment based framework for calibrating a network of multiple wide baseline RGB and depth cameras

New Statistical Algorithms for the Analysis of Mass Spectrometry Time-Of-Flight Mass Data with Applications in Clinical Diagnostics

Mass spectrometry (MS) based techniques have emerged as a standard forlarge-scale protein analysis. The ongoing progress in terms of more sensitive machines and improved data analysis algorithms led to a constant expansion of its fields of applications. Recently, MS was introduced into clinical proteomics with the prospect of early disease detection using proteomic pattern matching. Analyzing biological samples (e.g. blood) by mass spectrometry generates mass spectra that represent the components (molecules) contained in a sample as masses and their respective relative concentrations. In this work, we are interested in those components that are constant within a group of individuals but differ much between individuals of two distinct groups. These distinguishing components that dependent on a particular medical condition are generally called biomarkers. Since not all biomarkers found by the algorithms are of equal (discriminating) quality we are only interested in a small biomarker subset that - as a combination - can be used as a fingerprint for a disease. Once a fingerprint for a particular disease (or medical condition) is identified, it can be used in clinical diagnostics to classify unknown spectra. In this thesis we have developed new algorithms for automatic extraction of disease specific fingerprints from mass spectrometry data. Special emphasis has been put on designing highly sensitive methods with respect to signal detection. Thanks to our statistically based approach our methods are able to detect signals even below the noise level inherent in data acquired by common MS machines, such as hormones. To provide access to these new classes of algorithms to collaborating groups we have created a web-based analysis platform that provides all necessary interfaces for data transfer, data analysis and result inspection. To prove the platform's practical relevance it has been utilized in several clinical studies two of which are presented in this thesis. In these studies it could be shown that our platform is superior to commercial systems with respect to fingerprint identification. As an outcome of these studies several fingerprints for different cancer types (bladder, kidney, testicle, pancreas, colon and thyroid) have been detected and validated. The clinical partners in fact emphasize that these results would be impossible with a less sensitive analysis tool (such as the currently available systems). In addition to the issue of reliably finding and handling signals in noise we faced the problem to handle very large amounts of data, since an average dataset of an individual is about 2.5 Gigabytes in size and we have data of hundreds to thousands of persons. To cope with these large datasets, we developed a new framework for a heterogeneous (quasi) ad-hoc Grid - an infrastructure that allows to integrate thousands of computing resources (e.g. Desktop Computers, Computing Clusters or specialized hardware, such as IBM's Cell Processor in a Playstation 3)

Leveraging Subject Matter Expertise to Optimize Machine Learning Techniques for Air and Space Applications

We develop new machine learning and statistical methods that are tailored for Air and Space applications through the incorporation of subject matter expertise. In particular, we focus on three separate research thrusts that each represents a different type of subject matter knowledge, modeling approach, and application. In our first thrust, we incorporate knowledge of natural phenomena to design a neural network algorithm for localizing point defects in transmission electron microscopy (TEM) images of crystalline materials. In our second research thrust, we use Bayesian feature selection and regression to analyze the relationship between fighter pilot attributes and flight mishap rates. We use the Bayesian approach to incorporate findings from prior qualitative studies on flight mishaps. In our last research thrust, we utilize data generated from Air Force evaluation processes. We use structural causal models to represent our knowledge of Air Force evaluation processes and present a framework for using regression to identify and estimate causal relationships