Ono: an open platform for social robotics

In recent times, the focal point of research in robotics has shifted from industrial ro- bots toward robots that interact with humans in an intuitive and safe manner. This evolution has resulted in the subfield of social robotics, which pertains to robots that function in a human environment and that can communicate with humans in an int- uitive way, e.g. with facial expressions. Social robots have the potential to impact many different aspects of our lives, but one particularly promising application is the use of robots in therapy, such as the treatment of children with autism. Unfortunately, many of the existing social robots are neither suited for practical use in therapy nor for large scale studies, mainly because they are expensive, one-of-a-kind robots that are hard to modify to suit a specific need. We created Ono, a social robotics platform, to tackle these issues. Ono is composed entirely from off-the-shelf components and cheap materials, and can be built at a local FabLab at the fraction of the cost of other robots. Ono is also entirely open source and the modular design further encourages modification and reuse of parts of the platform

Automated Instruction Stream Throughput Prediction for Intel and AMD Microarchitectures

An accurate prediction of scheduling and execution of instruction streams is a necessary prerequisite for predicting the in-core performance behavior of throughput-bound loop kernels on out-of-order processor architectures. Such predictions are an indispensable component of analytical performance models, such as the Roofline and the Execution-Cache-Memory (ECM) model, and allow a deep understanding of the performance-relevant interactions between hardware architecture and loop code. We present the Open Source Architecture Code Analyzer (OSACA), a static analysis tool for predicting the execution time of sequential loops comprising x86 instructions under the assumption of an infinite first-level cache and perfect out-of-order scheduling. We show the process of building a machine model from available documentation and semi-automatic benchmarking, and carry it out for the latest Intel Skylake and AMD Zen micro-architectures. To validate the constructed models, we apply them to several assembly kernels and compare runtime predictions with actual measurements. Finally we give an outlook on how the method may be generalized to new architectures.Comment: 11 pages, 4 figures, 7 table

The Quest for Scalability and Accuracy in the Simulation of the Internet of Things: an Approach based on Multi-Level Simulation

This paper presents a methodology for simulating the Internet of Things (IoT) using multi-level simulation models. With respect to conventional simulators, this approach allows us to tune the level of detail of different parts of the model without compromising the scalability of the simulation. As a use case, we have developed a two-level simulator to study the deployment of smart services over rural territories. The higher level is base on a coarse grained, agent-based adaptive parallel and distributed simulator. When needed, this simulator spawns OMNeT++ model instances to evaluate in more detail the issues concerned with wireless communications in restricted areas of the simulated world. The performance evaluation confirms the viability of multi-level simulations for IoT environments.Comment: Proceedings of the IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications (DS-RT 2017

Experiences from porting the Contiki operating system to a popular hardware platform

In contrast to original belief, recent work has demonstrated the viability of IPv6-based Wireless Sensor Networks (WSNs). This has led to significant research and standardization efforts with outcomes such as the "IPv6 over Low-Power Wireless Personal Area Networks " (6LoWPAN) specification. The Contiki embedded operating system is an important open source, multi-platform effort to implement 6LoWPAN functionality for constrained devices. Alongside its RFC-compliant TCP/IP stack (uIP), it provides support for 6LoWPAN and many related standards. As part of our work, we have made considerable fixes and enhancements to one of Contiki's ports. In the process, we made significant optimizations and a thorough evaluation of Contiki's memory and code footprint characteristics, focusing on network-related functionality. In this paper we present our experiences from the porting process, we disclose our optimizations and demonstrate their significance. Lastly, we discuss a method of using Contiki to deploy an embedded Internet-to-6LoWPAN router. Our porting work has been made available to the community under the terms of the Contiki license

ORC: Increasing cloud memory density via object reuse with capabilities

Cloud environments host many tenants, and typically there is substantial overlap between the application binaries and libraries executed by tenants. Thus, memory de-duplication can increase memory density by allocating memory for shared binaries only once. Existing de-duplication approaches, however, either rely on a shared OS to de-deduplicate binary objects, which provides unacceptably weak isolation; or exploit hypervisor-based de-duplication at the level of memory pages, which is blind to the semantics of the objects to be shared. We describe Object Reuse with Capabilities (ORC), which supports the fine-grained sharing of binary objects between tenants, while isolating tenants strongly through a small trusted computing base (TCB). ORC uses hardware sup- port for memory capabilities to isolate tenants, which permits shared objects to be accessible to multiple tenants safely. Since ORC shares binary objects within a single address space through capabilities, it uses a new relocation type to create per-tenant state when loading shared objects. ORC supports the loading of objects by an untrusted guest, outside of its TCB, only verifying the safety of the loaded data. Our experiments show that ORC achieves a higher memory density with a lower overhead than hypervisor-based de-deduplication