Performance evaluation of a distributed integrative architecture for robotics

The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

HLA high performance and real-time simulation studies with CERTI

Our work takes place in the context of the HLA standard and its application in real-time systems context. Indeed, current HLA standard is inadequate for taking into consideration the different constraints involved in real-time computer systems. Many works have been invested in order to provide real-time capabilities to Run Time Infrastructures (RTI). This paper describes our approach focusing on achieving hard real-time properties for HLA federations through a complete state of the art on the related domain. Our paper also proposes a global bottom up approach from basic hardware and software basic requirements to experimental tests for validation of distributed real-time simulation with CERTI

Toward a Computational Steering Environment based on CORBA

International audienceThis paper presents the first step toward a computational steering environment based on CORBA. This environment, called EPSN, allows the control, the data exploration and the data modification for numerical simulations involving an iterative process. In order to be as generic as possible, we introduce an abstract model of steerable simulations. This abstraction allows us to build steering clients independently of a given simulation. This model is described with an XML syntax and is used in the simulation by some source code annotations. EPSN takes advantage of the CORBA technology to design a communication infrastructure with portability, interoperability and network transparency. In addition, the in-progress parallel CORBA objects will give us a very attractive framework for extending the steering to parallel and distributed simulations

Uintah: a massively parallel problem solving environment

Journal ArticleThis paper describes Uintah, a component-based visual problem solving environment (PSE) that is designed to specifically address the unique problems of massively parallel computation on terascale computing platforms. Uintah supports the entire life cycle of scientific applications by allowing scientific programmers to quickly and easily develop new techniques, debug new implementations, and apply known algorithms to solve novel problems. Uintah is built on three principles: 1) As much as possible, the complexities of parallel execution should be handled for the scientist, 2) software should be reusable at the component level, and 3) scientists should be able to dynamically steer and visualize their simulation results as the simulation executes. To provide this functionality, Uintah builds upon the best features of the SCIRun PSE and the DOE Common Component Architecture (CCA)

Building Distributed Systems for the Pragmatic Object Web

We review the growing power and capability of commodity computing and communication technologies largely driven by commercial distributed information systems. These systems are built from CORBA, Microsoft\u27s COM, JavaBeans, and rapidly advancing Web approaches. One can abstract these to a three-tier model with largely independent clients connected to a distributed network of servers. The latter host various services including object and relational databases and of course parallel and sequential computing. High performance can be obtained by combining concurrency at the middle server tier with optimized parallel back end services. The resultant system combines the needed performance for large-scale HPCC applications with the rich functionality of commodity systems. Further the architecture with distinct interface, server and specialized service implementation layers, naturally allows advances in each area to be easily incorporated. We illustrate how performance can be obtained within a commodity architecture and we propose a middleware integration approach based on JWORB (Java Web Object Broker) multi-protocol server technology. We illustrate our approach on a set of prototype applications in areas such as collaborative systems, support of multidisciplinary interactions, WebFlow based visual metacomputing, WebFlow over Globus, Quantum Monte Carlo and distributed interactive simulations