Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems

Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2 executor, a high-level task scheduler which handles ROS 2 messages, is a performance bottleneck. We extend ros2_tracing, a framework with instrumentation and tools for real-time tracing of ROS 2, with the analysis and visualization of the flow of messages across distributed ROS 2 systems. Our method detects one-to-many and many-to-many causal links between input and output messages, including indirect causal links through simple user-level annotations. We validate our method on both synthetic and real robotic systems, and demonstrate its low runtime overhead. Moreover, the underlying intermediate execution representation database can be further leveraged to extract additional metrics and high-level results. This can provide valuable timing and scheduling information to further study and improve the ROS 2 executor as well as optimize any ROS 2 system. The source code is available at: https://github.com/christophebedard/ros2-message-flow-analysis.Comment: 14 pages, 12 figure

Teenustele orienteeritud ja tõendite-teadlik mobiilne pilvearvutus

Arvutiteaduses on kaks kõige suuremat jõudu: mobiili- ja pilvearvutus. Kui pilvetehnoloogia pakub kasutajale keerukate ülesannete lahendamiseks salvestus- ning arvutusplatvormi, siis nutitelefon võimaldab lihtsamate ülesannete lahendamist mistahes asukohas ja mistahes ajal. Täpsemalt on mobiilseadmetel võimalik pilve võimalusi ära kasutades energiat säästa ning jagu saada kasvavast jõudluse ja ruumi vajadusest. Sellest tulenevalt on käesoleva töö peamiseks küsimuseks kuidas tuua pilveinfrastruktuur mobiilikasutajale lähemale? Antud töös uurisime kuidas mobiiltelefoni pilveteenust saab mobiilirakendustesse integreerida. Saime teada, et töö delegeerimine pilve eeldab mitmete pilve aspektide kaalumist ja integreerimist, nagu näiteks ressursimahukas töötlemine, asünkroonne suhtlus kliendiga, programmaatiline ressursside varustamine (Web APIs) ja pilvedevaheline kommunikatsioon. Nende puuduste ületamiseks lõime Mobiilse pilve vahevara Mobile Cloud Middleware (Mobile Cloud Middleware - MCM) raamistiku, mis kasutab deklaratiivset teenuste komponeerimist, et delegeerida töid mobiililt mitmetele pilvedele kasutades minimaalset andmeedastust. Teisest küljest on näidatud, et koodi teisaldamine on peamisi strateegiaid seadme energiatarbimise vähendamiseks ning jõudluse suurendamiseks. Sellegipoolest on koodi teisaldamisel miinuseid, mis takistavad selle laialdast kasutuselevõttu. Selles töös uurime lisaks, mis takistab koodi mahalaadimise kasutuselevõttu ja pakume lahendusena välja raamistiku EMCO, mis kogub seadmetelt infot koodi jooksutamise kohta erinevates kontekstides. Neid andmeid analüüsides teeb EMCO kindlaks, mis on sobivad tingimused koodi maha laadimiseks. Võrreldes kogutud andmeid, suudab EMCO järeldada, millal tuleks mahalaadimine teostada. EMCO modelleerib kogutud andmeid jaotuse määra järgi lokaalsete- ning pilvejuhtude korral. Neid jaotusi võrreldes tuletab EMCO täpsed atribuudid, mille korral mobiilirakendus peaks koodi maha laadima. Võrreldes EMCO-t teiste nüüdisaegsete mahalaadimisraamistikega, tõuseb EMCO efektiivsuse poolest esile. Lõpuks uurisime kuidas arvutuste maha laadimist ära kasutada, et täiustada kasutaja kogemust pideval mobiilirakenduse kasutamisel. Meie peamiseks motivatsiooniks, et sellist adaptiivset tööde täitmise kiirendamist pakkuda, on tagada kasutuskvaliteet (QoE), mis muutub vastavalt kasutajale, aidates seeläbi suurendada mobiilirakenduse eluiga.Mobile and cloud computing are two of the biggest forces in computer science. While the cloud provides to the user the ubiquitous computational and storage platform to process any complex tasks, the smartphone grants to the user the mobility features to process simple tasks, anytime and anywhere. Smartphones, driven by their need for processing power, storage space and energy saving are looking towards remote cloud infrastructure in order to solve these problems. As a result, the main research question of this work is how to bring the cloud infrastructure closer to the mobile user? In this thesis, we investigated how mobile cloud services can be integrated within the mobile apps. We found out that outsourcing a task to cloud requires to integrate and consider multiple aspects of the clouds, such as resource-intensive processing, asynchronous communication with the client, programmatically provisioning of resources (Web APIs) and cloud intercommunication. Hence, we proposed a Mobile Cloud Middleware (MCM) framework that uses declarative service composition to outsource tasks from the mobile to multiple clouds with minimal data transfer. On the other hand, it has been demonstrated that computational offloading is a key strategy to extend the battery life of the device and improves the performance of the mobile apps. We also investigated the issues that prevent the adoption of computational offloading, and proposed a framework, namely Evidence-aware Mobile Computational Offloading (EMCO), which uses a community of devices to capture all the possible context of code execution as evidence. By analyzing the evidence, EMCO aims to determine the suitable conditions to offload. EMCO models the evidence in terms of distributions rates for both local and remote cases. By comparing those distributions, EMCO infers the right properties to offload. EMCO shows to be more effective in comparison with other computational offloading frameworks explored in the state of the art. Finally, we investigated how computational offloading can be utilized to enhance the perception that the user has towards an app. Our main motivation behind accelerating the perception at multiple response time levels is to provide adaptive quality-of-experience (QoE), which can be used as mean of engagement strategy that increases the lifetime of a mobile app

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion

Performance of distributed information systems

There is an increasing use of distributed computer systems to provide services in both traditional telephony as well as in the Internet. Two main technologies are Distributed Object Computing (DOC) and Web based services. One common DOC architecture investigated in this thesis is the Common Object Request Broker Architecture (CORBA), specified by the Object Management Group. CORBA applications consist of interacting software components called objects. Two other DOC architectures investigated are the Telecommunications Information Net- working Architecture (TINA) and a CORBA based Intelligent Network (IN/CORBA) system. In a DOC environment, the objects of an application are distributed on mul- tiple nodes. A middleware layer makes the distribution transparent to the application. However, the distributed nature creates a number of potential performance problems. Three problems in DOC systems are examined in this thesis: object distribution, load balancing and overload protection. An object distribution describes how objects are distributed in the network. The objective is to distribute the objects on the physical nodes in such a way that intern-node communication overhead is as small as possible. One way to solve the object distribution problem is to use linear programming. The constraints for the problem are then given by both ease of management of the system and performance concerns. Load balancing is used when there are multiple objects that can be used at a particular time. The objective of load balancing is to distribute the load e±ciently on the available nodes. This thesis investigates a number of de- centralized load balancing mechanisms, including one based on the use of intelligent agents. Finally, overload protection mechanisms for DOC systems are investigated. While overload protection is well-researched for telecom networks, only little work has been performed previously concerning DOC and overload protection. Also, this thesis examines the use of overload protection in e-commerce web servers. Two schemes are compared, one which handles admission to the e-commerce site on request basis, and another which handles admission on session basis. The session based mechanism is shown to be better in terms of user-experienced performance