Pluggable abstract domains for analyzing embedded software

ManuscriptMany abstract value domains such as intervals, bitwise, constants, and value-sets have been developed to support dataflow analysis. Different domains offer alternative tradeoffs between analysis speed and precision. Furthermore, some domains are a better match for certain kinds of code than others. This paper presents the design and implementation of cXprop, an analysis and transformation tool for C that implements "conditional X propagation," a generalization of the well-known conditional constant propagation algorithm where X is an abstract value domain supplied by the user. cXprop is interprocedural, context-insensitive, and achieves reasonable precision on pointer-rich codes. We have applied cXprop to sensor network programs running on TinyOS, in order to reduce code size through interprocedural dead code elimination, and to find limited-bitwidth global variables. Our analysis of global variables is supported by a novel concurrency model for interruptdriven software. cXprop reduces TinyOS application code size by an average of 9.2% and predicts an average data size reduction of 8.2% through RAM compression

A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

Freeform User Interfaces for Graphical Computing

報告番号: 甲15222 ; 学位授与年月日: 2000-03-29 ; 学位の種別: 課程博士 ; 学位の種類: 博士(工学) ; 学位記番号: 博工第4717号 ; 研究科・専攻: 工学系研究科情報工学専

Is Ambient Intelligence a truly Human-Centric Paradigm in Industry? Current Research and Application Scenario

The use of pervasive networked devices is nowadays a reality in the service sector. It impacts almost all aspects of our daily lives, although most times we are not aware of its influence. This is a fundamental characteristic of the concept of Ambient Intelligence (AmI). Ambient Intelligence aims to change the form of human-computer interaction, focusing on the user needs so they can interact in a more seamless way, with emphasis on greater user-friendliness. The idea of recognizing people and their context situation is not new and has been successfully applied with limitations, for instance, in the health and military sectors. However its appearance in the manufacturing industry has been elusive. Could the concept of AmI turn the current shop floor into a truly human centric environment enabling comprehensive reaction to human presence and action? In this article an AmI scenario is presented and detailed with applications in human’s integrity and safety.Ambient Intelligence, networks, human-computer interaction

Dynamically typed languages

Dynamically typed languages such as Python and Ruby have experienced a rapid grown in popularity in recent times. However, there is much confusion as to what makes these languages interesting relative to statically typed languages, and little knowledge of their rich history. In this chapter I explore the general topic of dynamically typed languages, how they differ from statically typed languages, their history, and their defining features

GAMESPECT: A Composition Framework and Meta-Level Domain Specific Aspect Language for Unreal Engine 4

Game engine programming involves a great number of software components, many of which perform similar tasks; for example, memory allocation must take place in the renderer as well as in the creation routines while other tasks such as error logging must take place everywhere. One area of all games which is critical to the success of the game is that of game balance and tuning. These balancing initiatives cut across all areas of code from the player and AI to the mission manager. In computer science, we’ve come to call these types of concerns “cross cutting”. Aspect oriented programming was developed, in part, to solve the problems of cross cutting: employing “advice” which can be incorporated across different pieces of functionality. Yet, despite the prevalence of a solution, very little work has been done to bring cross cutting to game engine programming. Additionally, the discipline involves a heavy amount of code rewriting and reuse while simultaneously relying on many common design patterns that are copied from one project to another. In the case of game balance, the code may be wildly different across two different games despite the fact that similar tasks are being done. These two problems are exacerbated by the fact that almost every game engine has its own custom DSL (domain specific language) unique to that situation. If a DSL could showcase the areas of cross cutting concerns while highlighting the ability to capture design patterns that can be used across games, significant productivity savings could be achieved while simultaneously creating a common thread for discussion of shared problems within the domain. This dissertation sought to do exactly that- create a metalanguage called GAMESPECT which supports multiple styles of DSLs while bringing aspect-oriented programming into the DSL’s to make them DSAL (domain specific aspect languages). The example cross cutting concern was game balance and tuning since it’s so pervasive and important to gaming. We have created GAMESPECT as a language and a composition framework which can assist engine developers and game designers in balancing their games, forming one central place for game balancing concerns even while these concerns may cross different languages and locations inside the source code. Generality was measured by showcasing the composition specifications in multiple contexts and languages. In addition to evaluating generality and performance metrics, effectiveness was be measured. Specifically, comparisons were made between a balancing initiative when performed with GAMESPECT vs a traditional methodology. In doing so, this work shows a clear advantage to using a Metalanguage such as GAMESPECT for this task. In general, a line of code reduction of 9-40% per task was achieved with negligible effects to performance. The use of a metalanguage in Unreal Engine 4 is a starting point to further discussions concerning other game engines. In addition, this work has implications beyond video game programming. The work described highlights benefits which might be achieved in other disciplines where design pattern implementations and cross-cutting concern usage is high; the real time simulation field and the field of Windows GUI programming are two examples of future domains

COEL: A Web-based Chemistry Simulation Framework

The chemical reaction network (CRN) is a widely used formalism to describe macroscopic behavior of chemical systems. Available tools for CRN modelling and simulation require local access, installation, and often involve local file storage, which is susceptible to loss, lacks searchable structure, and does not support concurrency. Furthermore, simulations are often single-threaded, and user interfaces are non-trivial to use. Therefore there are significant hurdles to conducting efficient and collaborative chemical research. In this paper, we introduce a new enterprise chemistry simulation framework, COEL, which addresses these issues. COEL is the first web-based framework of its kind. A visually pleasing and intuitive user interface, simulations that run on a large computational grid, reliable database storage, and transactional services make COEL ideal for collaborative research and education. COEL's most prominent features include ODE-based simulations of chemical reaction networks and multicompartment reaction networks, with rich options for user interactions with those networks. COEL provides DNA-strand displacement transformations and visualization (and is to our knowledge the first CRN framework to do so), GA optimization of rate constants, expression validation, an application-wide plotting engine, and SBML/Octave/Matlab export. We also present an overview of the underlying software and technologies employed and describe the main architectural decisions driving our development. COEL is available at http://coel-sim.org for selected research teams only. We plan to provide a part of COEL's functionality to the general public in the near future.Comment: 23 pages, 12 figures, 1 tabl