20,707 research outputs found
Formal and Informal Methods for Multi-Core Design Space Exploration
We propose a tool-supported methodology for design-space exploration for
embedded systems. It provides means to define high-level models of applications
and multi-processor architectures and evaluate the performance of different
deployment (mapping, scheduling) strategies while taking uncertainty into
account. We argue that this extension of the scope of formal verification is
important for the viability of the domain.Comment: In Proceedings QAPL 2014, arXiv:1406.156
Run Time Approximation of Non-blocking Service Rates for Streaming Systems
Stream processing is a compute paradigm that promises safe and efficient
parallelism. Modern big-data problems are often well suited for stream
processing's throughput-oriented nature. Realization of efficient stream
processing requires monitoring and optimization of multiple communications
links. Most techniques to optimize these links use queueing network models or
network flow models, which require some idea of the actual execution rate of
each independent compute kernel within the system. What we want to know is how
fast can each kernel process data independent of other communicating kernels.
This is known as the "service rate" of the kernel within the queueing
literature. Current approaches to divining service rates are static. Modern
workloads, however, are often dynamic. Shared cloud systems also present
applications with highly dynamic execution environments (multiple users,
hardware migration, etc.). It is therefore desirable to continuously re-tune an
application during run time (online) in response to changing conditions. Our
approach enables online service rate monitoring under most conditions,
obviating the need for reliance on steady state predictions for what are
probably non-steady state phenomena. First, some of the difficulties associated
with online service rate determination are examined. Second, the algorithm to
approximate the online non-blocking service rate is described. Lastly, the
algorithm is implemented within the open source RaftLib framework for
validation using a simple microbenchmark as well as two full streaming
applications.Comment: technical repor
Dynamic Path Planning and Replanning for Mobile Robots using RRT*
It is necessary for a mobile robot to be able to efficiently plan a path from
its starting, or current, location to a desired goal location. This is a
trivial task when the environment is static. However, the operational
environment of the robot is rarely static, and it often has many moving
obstacles. The robot may encounter one, or many, of these unknown and
unpredictable moving obstacles. The robot will need to decide how to proceed
when one of these obstacles is obstructing it's path. A method of dynamic
replanning using RRT* is presented. The robot will modify it's current plan
when an unknown random moving obstacle obstructs the path. Various experimental
results show the effectiveness of the proposed method
Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project
Proyecto de Excelencia Junta de AndalucĂa TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics
yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot
activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional AndalucĂa Tec
Semantic Modeling of Analytic-based Relationships with Direct Qualification
Successfully modeling state and analytics-based semantic relationships of
documents enhances representation, importance, relevancy, provenience, and
priority of the document. These attributes are the core elements that form the
machine-based knowledge representation for documents. However, modeling
document relationships that can change over time can be inelegant, limited,
complex or overly burdensome for semantic technologies. In this paper, we
present Direct Qualification (DQ), an approach for modeling any semantically
referenced document, concept, or named graph with results from associated
applied analytics. The proposed approach supplements the traditional
subject-object relationships by providing a third leg to the relationship; the
qualification of how and why the relationship exists. To illustrate, we show a
prototype of an event-based system with a realistic use case for applying DQ to
relevancy analytics of PageRank and Hyperlink-Induced Topic Search (HITS).Comment: Proceedings of the 2015 IEEE 9th International Conference on Semantic
Computing (IEEE ICSC 2015
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