Towards Dynamic Vehicular Clouds

Motivated by the success of the conventional cloud computing, Vehicular Clouds were introduced as a group of vehicles whose corporate computing, sensing, communication, and physical resources can be coordinated and dynamically allocated to authorized users. One of the attributes that set Vehicular Clouds apart from conventional clouds is resource volatility. As vehicles enter and leave the cloud, new computing resources become available while others depart, creating a volatile environment where the task of reasoning about fundamental performance metrics becomes very challenging. The goal of this thesis is to design an architecture and model for a dynamic Vehicular Cloud built on top of moving vehicles on highways. We present our envisioned architecture for dynamic Vehicular Cloud, consisting of vehicles moving on the highways and multiple communication stations installed along the highway, and investigate the feasibility of such systems. The dynamic Vehicular Cloud is based on two-way communications between vehicles and the stations. We provide a communication protocol for vehicle-to-infrastructure communications enabling a dynamic Vehicular Cloud. We explain the structure of the proposed protocol in detail and then provide analytical predictions and simulation results to investigate the accuracy of our design and predictions. Just as in conventional clouds, job completion time ranks high among the fundamental quantitative performance figures of merit. In general, predicting job completion time requires full knowledge of the probability distributions of the intervening random variables. More often than not, however, the data center manager does not know these distribution functions. Instead, using accumulated empirical data, she may be able to estimate the first moments of these random variables. Yet, getting a handle on the expected job completion time is a very important problem that must be addressed. With this in mind, another contribution of this thesis is to offer easy-to-compute approximations of job completion time in a dynamic Vehicular Cloud involving vehicles on a highway. We assume estimates of the first moment of the time it takes the job to execute without any overhead attributable to the working of the Vehicular Cloud. A comprehensive set of simulations have shown that our approximations are very accurate. As mentioned, a major difference between the conventional cloud and the Vehicular Cloud is the availability of the computational nodes. The vehicles, which are the Vehicular Cloud\u27s computational resources, arrive and depart at random times, and as a result, this characteristic may cause failure in executing jobs and interruptions in the ongoing services. To handle these interruptions, once a vehicle is ready to leave the Vehicular Cloud, if the vehicle is running a job, the job and all intermediate data stored by the departing vehicle must be migrated to an available vehicle in the Vehicular Cloud

MDP-based Vehicular Network Connectivity Model for VCC Management

Vehicular Cloud computing is a new paradigm in which vehicles collaboratively exchange data and resources to support services and problem-solving in urban environments. Characteristically, such Clouds undergo severe challenging conditions from the high mobility of vehicles, and by essence, they are rather dynamic and complex. Many works have explored the assembling and management of Vehicular Clouds with designs that heavily focus on mobility. However, a mobility-based strategy relies on vehicles' geographical position, and its feasibility has been questioned in some recent works. Therefore, we present a more relaxed Vehicular Cloud management scheme that relies on connectivity. This work models uncertainty and considers every possible chance a vehicle may be available through accessible communication means, such as vehicle-to-everything (V2X) communications and the vehicle being in the range of road-side units (RSUs) for data transmissions. We propose an markov-decisision process (MDP) model to track vehicles' connection status and estimate their reliability for data transmissions. Also, from analyses, we observed that higher vehicle connectivity presents a trace of repeated connection patterns. We reinforce the connectivity status by validating it through an availability model to distinguish the vehicles which support high availability regardless of their positioning. The availability model thus determines the suitability of the MDP model in a given environment

Performance Modeling of Vehicular Clouds Under Different Service Strategies

The amount of data being generated at the edge of the Internet is rapidly rising as a result of the Internet of Things (IoT). Vehicles themselves are contributing enormously to data generation with their advanced sensor systems. This data contains contextual information; it's temporal and needs to be processed in real-time to be of any value. Transferring this data to the cloud is not feasible due to high cost and latency. This has led to the introduction of edge computing for processing of data close to the source. However, edge servers may not have the computing capacity to process all the data. Future vehicles will have significant computing power, which may be underutilized, and they may have a stake in the processing of the data. This led to the introduction of a new computing paradigm called vehicular cloud (VC), which consists of interconnected vehicles that can share resources and communicate with each other. The VCs may process the data by themselves or in cooperation with edge servers. Performance modeling of VCs is important, as it will help to determine whether it can provide adequate service to users. It will enable determining appropriate service strategies and the type of jobs that may be served by the VC such that Quality of service (QoS) requirements are met. Job completion time and throughput of VCs are important performance metrics. However, performance modeling of VCs is difficult because of the volatility of resources. As vehicles join and leave the VC, available resources vary in time. Performance evaluation results in the literature are lacking, and available results mostly pertain to stationary VCs formed from parked vehicles. This thesis proposes novel stochastic models for the performance evaluation of vehicular cloud systems that take into account resource volatility, composition of jobs from multiple tasks that can execute concurrently under different service strategies. First, we developed a stochastic model to analyze the job completion time in a VC system deployed on a highway with service interruption. Next, we developed a model to analyze the job completion time in a VC system with a service interruption avoidance strategy. This strategy aims to prevent disruptions in task service by only assigning tasks to vehicles that can complete the tasks’ execution before they leave the VC. In addition to analyzing job completion time, we evaluated the computing capacity of VC systems with a service interruption avoidance strategy, determining the number of jobs a VC system can complete during its lifetime. Finally, we studied the computing capacity of a robotaxi fleet, analyzing the average number of tasks that a robotaxi fleet can serve to completion during a cycle. By developing these models, conducting various analyses, and comparing the numerical results of the analyses to extensive Monte Carlo simulation results, we gained insights into job completion time, computing capacity, and overall performance of VC systems deployed in different contexts

Performance Modeling of Vehicular Clouds Under Different Service Strategies

The amount of data being generated at the edge of the Internet is rapidly rising as a result of the Internet of Things (IoT). Vehicles themselves are contributing enormously to data generation with their advanced sensor systems. This data contains contextual information; it's temporal and needs to be processed in real-time to be of any value. Transferring this data to the cloud is not feasible due to high cost and latency. This has led to the introduction of edge computing for processing of data close to the source. However, edge servers may not have the computing capacity to process all the data. Future vehicles will have significant computing power, which may be underutilized, and they may have a stake in the processing of the data. This led to the introduction of a new computing paradigm called vehicular cloud (VC), which consists of interconnected vehicles that can share resources and communicate with each other. The VCs may process the data by themselves or in cooperation with edge servers. Performance modeling of VCs is important, as it will help to determine whether it can provide adequate service to users. It will enable determining appropriate service strategies and the type of jobs that may be served by the VC such that Quality of service (QoS) requirements are met. Job completion time and throughput of VCs are important performance metrics. However, performance modeling of VCs is difficult because of the volatility of resources. As vehicles join and leave the VC, available resources vary in time. Performance evaluation results in the literature are lacking, and available results mostly pertain to stationary VCs formed from parked vehicles. This thesis proposes novel stochastic models for the performance evaluation of vehicular cloud systems that take into account resource volatility, composition of jobs from multiple tasks that can execute concurrently under different service strategies. First, we developed a stochastic model to analyze the job completion time in a VC system deployed on a highway with service interruption. Next, we developed a model to analyze the job completion time in a VC system with a service interruption avoidance strategy. This strategy aims to prevent disruptions in task service by only assigning tasks to vehicles that can complete the tasks’ execution before they leave the VC. In addition to analyzing job completion time, we evaluated the computing capacity of VC systems with a service interruption avoidance strategy, determining the number of jobs a VC system can complete during its lifetime. Finally, we studied the computing capacity of a robotaxi fleet, analyzing the average number of tasks that a robotaxi fleet can serve to completion during a cycle. By developing these models, conducting various analyses, and comparing the numerical results of the analyses to extensive Monte Carlo simulation results, we gained insights into job completion time, computing capacity, and overall performance of VC systems deployed in different contexts

MOVE: Mobile Observers Variants and Extensions

Traffic state estimation is a fundamental task of Intelligent Transportation Systems. Recent advances in sensor technology and emerging computer and vehicular communications paradigms have brought the task of estimating traffic state parameters in real-time within reach. This has led to the main research question of this thesis: Can a vehicle accurately estimate traffic parameters using onboard resources shared through CV technology in a lightweight manner without utilizing centralized or roadside infrastructure? In 1954 Wardrop and Charlesworth proposed the Moving Observer method to measure traffic parameters based on an observed number of vehicle passes. We start by proposing methods for detecting vehicle passes using both radar and V2X as a well as with V2X only. Next, a modernization of the Moving Observer method, called the MO1 method, using the capabilities of modern vehicles is proposed which mitigates some of the limitations of the original method. The results show our method is able to provide estimates comparable to stationary observer methods, even in low ow scenarios. The MO2 method also utilizes two vehicles traveling in the same direction to determine a density between the two vehicles. Again, the results show this method provides estimates comparable to stationary observer methods, even in low ow scenarios. The MO3 method is similar to the MO2 method; however, here the two vehicles travel in oncoming traffic. In doing so, the vehicles\u27 relative velocity is large, leading us to hypothesize that the method will work well in urban traffic. The results for the MO3 method in urban traffic did not meet our expectations, which inspired us to develop the MO3-Flow method. The MO3-Flow method aggregates the counts of multiple vehicles to determine flow. The MO3-Flow method requires additional roadside infrastructure. To remove this need, a Virtual Road Side Unit architecture is proposed. This architecture uses vehicles on the roadway to act in place of roadside infrastructure. We show this architecture provides ample service coverage if the data image is sufficiently small

Variational methods and its applications to computer vision

Many computer vision applications such as image segmentation can be formulated in a ''variational'' way as energy minimization problems. Unfortunately, the computational task of minimizing these energies is usually difficult as it generally involves non convex functions in a space with thousands of dimensions and often the associated combinatorial problems are NP-hard to solve. Furthermore, they are ill-posed inverse problems and therefore are extremely sensitive to perturbations (e.g. noise). For this reason in order to compute a physically reliable approximation from given noisy data, it is necessary to incorporate into the mathematical model appropriate regularizations that require complex computations. The main aim of this work is to describe variational segmentation methods that are particularly effective for curvilinear structures. Due to their complex geometry, classical regularization techniques cannot be adopted because they lead to the loss of most of low contrasted details. In contrast, the proposed method not only better preserves curvilinear structures, but also reconnects some parts that may have been disconnected by noise. Moreover, it can be easily extensible to graphs and successfully applied to different types of data such as medical imagery (i.e. vessels, hearth coronaries etc), material samples (i.e. concrete) and satellite signals (i.e. streets, rivers etc.). In particular, we will show results and performances about an implementation targeting new generation of High Performance Computing (HPC) architectures where different types of coprocessors cooperate. The involved dataset consists of approximately 200 images of cracks, captured in three different tunnels by a robotic machine designed for the European ROBO-SPECT project.Open Acces

Edge Computing Platforms and Protocols

Cloud computing has created a radical shift in expanding the reach of application usage and has emerged as a de-facto method to provide low-cost and highly scalable computing services to its users. Existing cloud infrastructure is a composition of large-scale networks of datacenters spread across the globe. These datacenters are carefully installed in isolated locations and are heavily managed by cloud providers to ensure reliable performance to its users. In recent years, novel applications, such as Internet-of-Things, augmented-reality, autonomous vehicles etc., have proliferated the Internet. Majority of such applications are known to be time-critical and enforce strict computational delay requirements for acceptable performance. Traditional cloud offloading techniques are inefficient for handling such applications due to the incorporation of additional network delay encountered while uploading pre-requisite data to distant datacenters. Furthermore, as computations involving such applications often rely on sensor data from multiple sources, simultaneous data upload to the cloud also results in significant congestion in the network. Edge computing is a new cloud paradigm which aims to bring existing cloud services and utilities near end users. Also termed edge clouds, the central objective behind this upcoming cloud platform is to reduce the network load on the cloud by utilizing compute resources in the vicinity of users and IoT sensors. Dense geographical deployment of edge clouds in an area not only allows for optimal operation of delay-sensitive applications but also provides support for mobility, context awareness and data aggregation in computations. However, the added functionality of edge clouds comes at the cost of incompatibility with existing cloud infrastructure. For example, while data center servers are closely monitored by the cloud providers to ensure reliability and security, edge servers aim to operate in unmanaged publicly-shared environments. Moreover, several edge cloud approaches aim to incorporate crowdsourced compute resources, such as smartphones, desktops, tablets etc., near the location of end users to support stringent latency demands. The resulting infrastructure is an amalgamation of heterogeneous, resource-constrained and unreliable compute-capable devices that aims to replicate cloud-like performance. This thesis provides a comprehensive collection of novel protocols and platforms for integrating edge computing in the existing cloud infrastructure. At its foundation lies an all-inclusive edge cloud architecture which allows for unification of several co-existing edge cloud approaches in a single logically classified platform. This thesis further addresses several open problems for three core categories of edge computing: hardware, infrastructure and platform. For hardware, this thesis contributes a deployment framework which enables interested cloud providers to effectively identify optimal locations for deploying edge servers in any geographical region. For infrastructure, the thesis proposes several protocols and techniques for efficient task allocation, data management and network utilization in edge clouds with the end-objective of maximizing the operability of the platform as a whole. Finally, the thesis presents a virtualization-dependent platform for application owners to transparently utilize the underlying distributed infrastructure of edge clouds, in conjunction with other co-existing cloud environments, without much management overhead.Pilvilaskenta on aikaansaanut suuren muutoksen sovellusten toiminta-alueessa ja on sen myötä muodostunut lähes oletusarvoiseksi tavaksi toteuttaa edullisia ja skaalautuvia laskentapalveluita käyttäjille. Olemassaoleva pilvi-infrastruktuuri on kokoelma suuren mittakaavan datakeskuksia ympäri maailman. Datakeskukset sijaitsevat maantieteellisesti tarkkaan valituissa paikoissa, joista pilvioperaattorit pystyvät takaamaan hyvän suorituskyvyn käyttäjilleen. Viime vuosina yleistyneet uudet sovellusalat, kuten esineiden Internet (IoT), lisätty todellisuus (AR), itseohjautuvat autot, jne., ovat yleistyneet Internetissä. Valtaosa edellä mainituista sovellusaloista on aikakriittisiä, ja ne asettavat laskennalle tiukan viivemarginaalin, jonka toteutuminen on edellytys sovelluksen hyväksyttävälle suorituskyvylle. Perinteiset menetelmät delegoida laskentaa pilvipalveluihin ovat kelvottomia aikakriittisissä sovelluksissa, sillä laskentaan liittyvän oheisdatan siirtämisestä johtuva verkkoviive on liian suuri. Useat edellä mainituista uusista sovellusaloista hyödyntävät sensoridataa, jota kerätään useista eri lähteistä. Samanaikaiset datayhteydet puolestaan aiheuttavat merkittävää ruuhkaa verkossa. Reunalaskenta on uusi pilviparadigma, jonka tavoitteena on tuoda nykyiset palvelut ja resurssit lähemmäksi loppukäyttäjää. Myös reunapilvenä tunnetun paradigman keskeinen tavoite on vähentää pilveen kohdistuvaa verkkoliikennettä suorittamalla sovelluksen vaatima laskenta resursseilla, jotka sijaitsevat lähempänä loppukäyttäjää. Reunapilvien tiheä maantieteellinen sijoittelu ei ainoastaan auta minimoimaan tiedonsiirtoviivettä aikakriittisiä sovelluksia varten, vaan tukee myös sovellusten mobiliteettia, kontekstitietoisuutta ja datan aggregointia laskentaa varten. Edellä mainitut reunapilven tarjoamat uudet mahdollisuudet eivät kuitenkaan ole yhteensopivia nykyisten pilvi-infrastruktuurien kanssa. Datakeskukset toimivat tarkoin valvotuissa ympäristöissä palvelun takaamiseksi, kun taas reunapilvien toiminta-alue on hallinnoimaton ja julkinen. Useat esitykset reunapilven toteutukseen liittyen hyödyntävät myös käyttäjien laitteiden potentiaalista laskentakapasiteettia, jota tänä päivänä löytyy runsaasti mm. älypuhelimista, kannettavista tietokoneista, tableteista. Reunapilven infrastruktuuri on täten haastava yhdistelmä heterogeenisiä, resurssirajoitettuja, epäluotettavia, mutta laskentakykyisiä laitteita, jotka yhdessä pyrkivät suorittamaan pilvilaskentaa. Tämä väitöstutkimus tarjoaa kokoelman uudentyyppisiä protokollia ja alustoja reunalaskennan integroimiseksi osaksi nykyistä pilvi-infrastruktuuria. Tutkimuksen pohjana on kokonaisvaltainen reunapilviarkkitehtuuri, joka pyrkii yhdistämään useita rinnakkaisia arkkitehtuuriehdotuksia yhdeksi loogiseksi pilvialustaksi. Väitöstutkimus ottaa myös kantaa useisiin avoimiin ongelmiin reunalaskennan kolmella osa-alueella: resurssit, infrastruktuuri ja palvelualusta. Resursseihin liittyen tämä väitöstutkimus tarjoaa käyttöönottokehyksen, jonka avulla palveluntarjoajat voivat tehokkaasti selvittää reunapalvelinten optimaaliset maantieteelliset sijoituskohteet. Infrastruktuurin osalta tämä väitöstutkimus esittelee reunapilvessä tapahtuvaa tehokasta tehtävien allokointia, datan hallinnointia ja verkon hyödyntämistä varten useita protokollia ja tekniikoita, joiden yhteinen tavoite on maksimoida alustan toiminnallisuus kokonaisuutena. Tämän väitöstutkimuksen lopussa kuvataan virtualisointiin pohjautuva alusta, jonka avulla käyttäjä voi läpinäkyvästi hyödyntää ympäröivää reunapilveä perinteisten pilvi-infrastruktuurien rinnalla ilman suurta hallinnollista kuormaa

Edge Assignment and Data Valuation in Federated Learning

Federated Learning (FL) is a recent Machine Learning method for training with private data separately stored in local machines without gathering them into one place for central learning. It was born to address the following challenges when applying Machine Learning in practice: (1) Communication cost: Most real-world data that can be useful for training are locally collected; to bring them all to one place for central learning can be expensive, especially in real-time learning applications when time is of the essence, for example, predicting the next word when texting on a smartphone; and (2) Privacy protection: Many applications must protect data privacy, such as those in the healthcare field; the private data can only be seen by its local owner and as such the learning may only use a content-hiding representation of this data, which is much less informative. To fulfill FL’s promise, this dissertation addresses three important problems regarding the need for good training data, system scalability, and uncertainty robustness: 1. The effectiveness of FL depends critically on the quality of the local training data. We should not only incentivize participants who have good training data but also minimize the effect of bad training data on the overall learning procedure. The first problem of my research is to determine a score to value a participant’s contribution. My approach is to compute such a score based on Shapley Value (SV), a concept of cooperative game theory for profit allocation in a coalition game. In this direction, the main challenge is due to the exponential time complexity of the SV computation, which is further complicated by the iterative manner of the FL learning algorithm. I propose a fast and effective valuation method that overcomes this challenge. 2. On scalability, FL depends on a central server for repeated aggregation of local training models, which is prone to become a performance bottleneck. A reasonable approach is to combine FL with Edge Computing: introduce a layer of edge servers to each serve as a regional aggregator to offload the main server. The scalability is thus improved, however at the cost of learning accuracy. The second problem of my research is to optimize this tradeoff. This dissertation shows that this cost can be alleviated with a proper choice of edge server assignment: which edge servers should aggregate the training models from which local machines. Specifically, I propose an assignment solution that is especially useful for the case of non-IID training data which is well-known to hinder today’s FL performance. 3. FL participants may decide on their own what devices they run on, their computing capabilities, and how often they communicate the training model with the aggregation server. The workloads incurred by them are therefore time-varying, and unpredictably. The server capacities are finite and can vary too. The third problem of my research is to compute an edge server assignment that is robust to such dynamics and uncertainties. I propose a stochastic approach to solving this problem