Saber: window-based hybrid stream processing for heterogeneous architectures

Modern servers have become heterogeneous, often combining multicore CPUs with many-core GPGPUs. Such heterogeneous architectures have the potential to improve the performance of data-intensive stream processing applications, but they are not supported by current relational stream processing engines. For an engine to exploit a heterogeneous architecture, it must execute streaming SQL queries with sufficient data-parallelism to fully utilise all available heterogeneous processors, and decide how to use each in the most effective way. It must do this while respecting the semantics of streaming SQL queries, in particular with regard to window handling. We describe SABER, a hybrid high-performance relational stream processing engine for CPUs and GPGPUs. SABER executes windowbased streaming SQL queries in a data-parallel fashion using all available CPU and GPGPU cores. Instead of statically assigning query operators to heterogeneous processors, SABER employs a new adaptive heterogeneous lookahead scheduling strategy, which increases the share of queries executing on the processor that yields the highest performance. To hide data movement costs, SABER pipelines the transfer of stream data between different memory types and the CPU/GPGPU. Our experimental comparison against state-ofthe-art engines shows that SABER increases processing throughput while maintaining low latency for a wide range of streaming SQL queries with small and large windows sizes

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

While monolithic satellite missions still pose significant advantages in terms of accuracy and operations, novel distributed architectures are promising improved flexibility, responsiveness, and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance satellites are becoming feasible and advantageous alternatives requiring the adoption of new operation paradigms that enhance their autonomy. While autonomy is a notion that is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy is also presented as a necessary feature to bring new distributed Earth observation functions (which require coordination and collaboration mechanisms) and to allow for novel structural functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission Planning and Scheduling (MPS) frameworks are then presented as a key component to implement autonomous operations in satellite missions. An exhaustive knowledge classification explores the design aspects of MPS for DSS, and conceptually groups them into: components and organizational paradigms; problem modeling and representation; optimization techniques and metaheuristics; execution and runtime characteristics and the notions of tasks, resources, and constraints. This paper concludes by proposing future strands of work devoted to study the trade-offs of autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that consider some of the limitations of small spacecraft technologies.Postprint (author's final draft

Robotic ubiquitous cognitive ecology for smart homes

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work