Human Swarm Interaction: An Experimental Study of Two Types of Interaction with Foraging Swarms

In this paper we present the first study of human-swarm interaction comparing two fundamental types of interaction, coined intermittent and environmental. These types are exemplified by two control methods, selection and beacon control, made available to a human operator to control a foraging swarm of robots. Selection and beacon control differ with respect to their temporal and spatial influence on the swarm and enable an operator to generate different strategies from the basic behaviors of the swarm. Selection control requires an active selection of groups of robots while beacon control exerts an influence on nearby robots within a set range. Both control methods are implemented in a testbed in which operators solve an information foraging problem by utilizing a set of swarm behaviors. The robotic swarm has only local communication and sensing capabilities. The number of robots in the swarm range from 50 to 200. Operator performance for each control method is compared in a series of missions in different environments with no obstacles up to cluttered and structured obstacles. In addition, performance is compared to simple and advanced autonomous swarms. Thirty-two participants were recruited for participation in the study. Autonomous swarm algorithms were tested in repeated simulations. Our results showed that selection control scales better to larger swarms and generally outperforms beacon control. Operators utilized different swarm behaviors with different frequency across control methods, suggesting an adaptation to different strategies induced by choice of control method. Simple autonomous swarms outperformed human operators in open environments, but operators adapted better to complex environments with obstacles. Human controlled swarms fell short of task-specific benchmarks under all conditions. Our results reinforce the importance of understanding and choosing appropriate types of human-swarm interaction when designing swarm systems, in addition to choosing appropriate swarm behaviors

Leveraging OpenStack and Ceph for a Controlled-Access Data Cloud

While traditional HPC has and continues to satisfy most workflows, a new generation of researchers has emerged looking for sophisticated, scalable, on-demand, and self-service control of compute infrastructure in a cloud-like environment. Many also seek safe harbors to operate on or store sensitive and/or controlled-access data in a high capacity environment. To cater to these modern users, the Minnesota Supercomputing Institute designed and deployed Stratus, a locally-hosted cloud environment powered by the OpenStack platform, and backed by Ceph storage. The subscription-based service complements existing HPC systems by satisfying the following unmet needs of our users: a) on-demand availability of compute resources, b) long-running jobs (i.e., $> 30$ days), c) container-based computing with Docker, and d) adequate security controls to comply with controlled-access data requirements. This document provides an in-depth look at the design of Stratus with respect to security and compliance with the NIH's controlled-access data policy. Emphasis is placed on lessons learned while integrating OpenStack and Ceph features into a so-called "walled garden", and how those technologies influenced the security design. Many features of Stratus, including tiered secure storage with the introduction of a controlled-access data "cache", fault-tolerant live-migrations, and fully integrated two-factor authentication, depend on recent OpenStack and Ceph features.Comment: 7 pages, 5 figures, PEARC '18: Practice and Experience in Advanced Research Computing, July 22--26, 2018, Pittsburgh, PA, US

The MeshRouter Architecture

The Joint Forces Command (JFCOM) Experimentation Directorate (J9)'s recent Joint Urban Operations (JUO) experiments have demonstrated the viability of Forces Modeling and Simulation in a distributed environment. The JSAF application suite, combined with the RTI-s communications system, provides the ability to run distributed simulations with sites located across the United States, from Norfolk, Virginia to Maui, Hawaii. Interest-aware routers are essential for communications in the large, distributed environments, and the current RTI-s framework provides such routers connected in a straightforward tree topology. This approach is successful for small to medium sized simulations, but faces a number of significant limitations for very large simulations over high-latency, wide area networks. In particular, traffic is forced through a single site, drastically increasing distances messages must travel to sites not near the top of the tree. Aggregate bandwidth is limited to the bandwidth of the site hosting the top router, and failures in the upper levels of the router tree can result in widespread communications losses throughout the system. To resolve these issues, this work extends the RTI-s software router infrastructure to accommodate more sophisticated, general router topologies, including both the existing tree framework and a new generalization of the fully connected mesh topologies used in the SF Express ModSAF simulations of 100K fully interacting vehicles. The new software router objects incorporate the scalable features of the SF Express design, while optionally using low-level RTI-s objects to perform actual site-to-site communications. The (substantial) limitations of the original mesh router formalism have been eliminated, allowing fully dynamic operations. The mesh topology capabilities allow aggregate bandwidth and site-to-site latencies to match actual network performance. The heavy resource load at the root node can now be distributed across routers at the participating sites

Pipes and Connections

This document describes the low-level Pipe and ConnectionManager objects of the Mesh- Router system. The overall MeshRouter framework provides a general scheme for interest- limited communications among a number of client processes. This generality is achieved by a carefully factorized, object-oriented software implementation. Within this framework, the Pipe and ConnectionManager (base) classes dened in this note specify the interfaces for i) ac- tual `bits on the wire' communications and ii) dynamic client insertions during overall system execution. Two specic implementations of the Pipe class are described in detail: a `Memo- ryPipe' linking objects instanced on a single processor and a more general 'rtisPipe' providing inter-processor communications built entirely from the standard RTI-s library used in current JSAF applications. Initialization procedures within the overall MeshRouter system are dis- cussed, with particular attention given to dynamic management of inter-processor connections. Prototype RTI-s router processes are discussed, and simple extensions of the standard system conguration data les are presented

Time dependent correlations in marine stratocumulus cloud base height records

The scaling ranges of time correlations in the cloud base height records of marine boundary layer stratocumulus are studied applying the Detrended Fluctuation Analysis statistical method. We have found that time dependent variations in the evolution of the $\alpha$ exponent reflect the diurnal dynamics of cloud base height fluctuations in the marine boundary layer. In general, a more stable structure of the boundary layer corresponds to a lower value of the $\alpha$ - indicator, i.e. larger anti-persistence, thus a set of fluctuations tending to induce a greater stability of the stratocumulus. In contrast, during periods of higher instability in the marine boundary, less anti-persistent (more persistent like) behavior of the system drags it out of equilibrium, corresponding to larger $\alpha$ values. From an analysis of the frequency spectrum, the stratocumulus base height evolution is found to be a non-stationary process with stationary increments. The occurrence of these statistics in cloud base height fluctuations suggests the usefulness of similar studies for the radiation transfer dynamics modeling.Comment: 12 pages, 6 figures; to appear in Int. J. Mod. Phys. C, Vol. 13, No. 2 (2002

Astro-WISE: Chaining to the Universe

The recent explosion of recorded digital data and its processed derivatives threatens to overwhelm researchers when analysing their experimental data or when looking up data items in archives and file systems. While current hardware developments allow to acquire, process and store 100s of terabytes of data at the cost of a modern sports car, the software systems to handle these data are lagging behind. This general problem is recognized and addressed by various scientific communities, e.g., DATAGRID/EGEE federates compute and storage power over the high-energy physical community, while the astronomical community is building an Internet geared Virtual Observatory, connecting archival data. These large projects either focus on a specific distribution aspect or aim to connect many sub-communities and have a relatively long trajectory for setting standards and a common layer. Here, we report "first light" of a very different solution to the problem initiated by a smaller astronomical IT community. It provides the abstract "scientific information layer" which integrates distributed scientific analysis with distributed processing and federated archiving and publishing. By designing new abstractions and mixing in old ones, a Science Information System with fully scalable cornerstones has been achieved, transforming data systems into knowledge systems. This break-through is facilitated by the full end-to-end linking of all dependent data items, which allows full backward chaining from the observer/researcher to the experiment. Key is the notion that information is intrinsic in nature and thus is the data acquired by a scientific experiment. The new abstraction is that software systems guide the user to that intrinsic information by forcing full backward and forward chaining in the data modelling.Comment: To be published in ADASS XVI ASP Conference Series, 2006, R. Shaw, F. Hill and D. Bell, ed