31,276 research outputs found
Jointly Optimizing Placement and Inference for Beacon-based Localization
The ability of robots to estimate their location is crucial for a wide
variety of autonomous operations. In settings where GPS is unavailable,
measurements of transmissions from fixed beacons provide an effective means of
estimating a robot's location as it navigates. The accuracy of such a
beacon-based localization system depends both on how beacons are distributed in
the environment, and how the robot's location is inferred based on noisy and
potentially ambiguous measurements. We propose an approach for making these
design decisions automatically and without expert supervision, by explicitly
searching for the placement and inference strategies that, together, are
optimal for a given environment. Since this search is computationally
expensive, our approach encodes beacon placement as a differential neural layer
that interfaces with a neural network for inference. This formulation allows us
to employ standard techniques for training neural networks to carry out the
joint optimization. We evaluate this approach on a variety of environments and
settings, and find that it is able to discover designs that enable high
localization accuracy.Comment: Appeared at 2017 International Conference on Intelligent Robots and
Systems (IROS
VIoLET: A Large-scale Virtual Environment for Internet of Things
IoT deployments have been growing manifold, encompassing sensors, networks,
edge, fog and cloud resources. Despite the intense interest from researchers
and practitioners, most do not have access to large-scale IoT testbeds for
validation. Simulation environments that allow analytical modeling are a poor
substitute for evaluating software platforms or application workloads in
realistic computing environments. Here, we propose VIoLET, a virtual
environment for defining and launching large-scale IoT deployments within cloud
VMs. It offers a declarative model to specify container-based compute resources
that match the performance of the native edge, fog and cloud devices using
Docker. These can be inter-connected by complex topologies on which
private/public networks, and bandwidth and latency rules are enforced. Users
can configure synthetic sensors for data generation on these devices as well.
We validate VIoLET for deployments with > 400 devices and > 1500 device-cores,
and show that the virtual IoT environment closely matches the expected compute
and network performance at modest costs. This fills an important gap between
IoT simulators and real deployments.Comment: To appear in the Proceedings of the 24TH International European
Conference On Parallel and Distributed Computing (EURO-PAR), August 27-31,
2018, Turin, Italy, europar2018.org. Selected as a Distinguished Paper for
presentation at the Plenary Session of the conferenc
MOSDEN: A Scalable Mobile Collaborative Platform for Opportunistic Sensing Applications
Mobile smartphones along with embedded sensors have become an efficient
enabler for various mobile applications including opportunistic sensing. The
hi-tech advances in smartphones are opening up a world of possibilities. This
paper proposes a mobile collaborative platform called MOSDEN that enables and
supports opportunistic sensing at run time. MOSDEN captures and shares sensor
data across multiple apps, smartphones and users. MOSDEN supports the emerging
trend of separating sensors from application-specific processing, storing and
sharing. MOSDEN promotes reuse and re-purposing of sensor data hence reducing
the efforts in developing novel opportunistic sensing applications. MOSDEN has
been implemented on Android-based smartphones and tablets. Experimental
evaluations validate the scalability and energy efficiency of MOSDEN and its
suitability towards real world applications. The results of evaluation and
lessons learned are presented and discussed in this paper.Comment: Accepted to be published in Transactions on Collaborative Computing,
2014. arXiv admin note: substantial text overlap with arXiv:1310.405
Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks
Future wireless networks have a substantial potential in terms of supporting
a broad range of complex compelling applications both in military and civilian
fields, where the users are able to enjoy high-rate, low-latency, low-cost and
reliable information services. Achieving this ambitious goal requires new radio
techniques for adaptive learning and intelligent decision making because of the
complex heterogeneous nature of the network structures and wireless services.
Machine learning (ML) algorithms have great success in supporting big data
analytics, efficient parameter estimation and interactive decision making.
Hence, in this article, we review the thirty-year history of ML by elaborating
on supervised learning, unsupervised learning, reinforcement learning and deep
learning. Furthermore, we investigate their employment in the compelling
applications of wireless networks, including heterogeneous networks (HetNets),
cognitive radios (CR), Internet of things (IoT), machine to machine networks
(M2M), and so on. This article aims for assisting the readers in clarifying the
motivation and methodology of the various ML algorithms, so as to invoke them
for hitherto unexplored services as well as scenarios of future wireless
networks.Comment: 46 pages, 22 fig
InterCloud: Utility-Oriented Federation of Cloud Computing Environments for Scaling of Application Services
Cloud computing providers have setup several data centers at different
geographical locations over the Internet in order to optimally serve needs of
their customers around the world. However, existing systems do not support
mechanisms and policies for dynamically coordinating load distribution among
different Cloud-based data centers in order to determine optimal location for
hosting application services to achieve reasonable QoS levels. Further, the
Cloud computing providers are unable to predict geographic distribution of
users consuming their services, hence the load coordination must happen
automatically, and distribution of services must change in response to changes
in the load. To counter this problem, we advocate creation of federated Cloud
computing environment (InterCloud) that facilitates just-in-time,
opportunistic, and scalable provisioning of application services, consistently
achieving QoS targets under variable workload, resource and network conditions.
The overall goal is to create a computing environment that supports dynamic
expansion or contraction of capabilities (VMs, services, storage, and database)
for handling sudden variations in service demands.
This paper presents vision, challenges, and architectural elements of
InterCloud for utility-oriented federation of Cloud computing environments. The
proposed InterCloud environment supports scaling of applications across
multiple vendor clouds. We have validated our approach by conducting a set of
rigorous performance evaluation study using the CloudSim toolkit. The results
demonstrate that federated Cloud computing model has immense potential as it
offers significant performance gains as regards to response time and cost
saving under dynamic workload scenarios.Comment: 20 pages, 4 figures, 3 tables, conference pape
Towards a Formal Framework for Mobile, Service-Oriented Sensor-Actuator Networks
Service-oriented sensor-actuator networks (SOSANETs) are deployed in
health-critical applications like patient monitoring and have to fulfill strong
safety requirements. However, a framework for the rigorous formal modeling and
analysis of SOSANETs does not exist. In particular, there is currently no
support for the verification of correct network behavior after node failure or
loss/addition of communication links. To overcome this problem, we propose a
formal framework for SOSANETs. The main idea is to base our framework on the
\pi-calculus, a formally defined, compositional and well-established formalism.
We choose KLAIM, an existing formal language based on the \pi-calculus as the
foundation for our framework. With that, we are able to formally model SOSANETs
with possible topology changes and network failures. This provides the basis
for our future work on prediction, analysis and verification of the network
behavior of these systems. Furthermore, we illustrate the real-life
applicability of this approach by modeling and extending a use case scenario
from the medical domain.Comment: In Proceedings FESCA 2013, arXiv:1302.478
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