Digital implementation of the cellular sensor-computers

Two different kinds of cellular sensor-processor architectures are used nowadays in various applications. The first is the traditional sensor-processor architecture, where the sensor and the processor arrays are mapped into each other. The second is the foveal architecture, in which a small active fovea is navigating in a large sensor array. This second architecture is introduced and compared here. Both of these architectures can be implemented with analog and digital processor arrays. The efficiency of the different implementation types, depending on the used CMOS technology, is analyzed. It turned out, that the finer the technology is, the better to use digital implementation rather than analog

A Decentralized Mobile Computing Network for Multi-Robot Systems Operations

Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique source of inspiration for the development of fault-tolerant and self-healing multi-robot systems capable of operating in dynamic environments. Specifically, swarm robotics emerged and is significantly growing on these premises. However, to date, most swarm robotics systems reported in the literature involve basic computational tasks---averages and other algebraic operations. In this paper, we introduce a novel Collective computing framework based on the swarming paradigm, which exhibits the key innate features of swarms: robustness, scalability and flexibility. Unlike Edge computing, the proposed Collective computing framework is truly decentralized and does not require user intervention or additional servers to sustain its operations. This Collective computing framework is applied to the complex task of collective mapping, in which multiple robots aim at cooperatively map a large area. Our results confirm the effectiveness of the cooperative strategy, its robustness to the loss of multiple units, as well as its scalability. Furthermore, the topology of the interconnecting network is found to greatly influence the performance of the collective action.Comment: Accepted for Publication in Proc. 9th IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conferenc

An Agent-Based Simulation API for Speculative PDES Runtime Environments

Agent-Based Modeling and Simulation (ABMS) is an effective paradigm to model systems exhibiting complex interactions, also with the goal of studying the emergent behavior of these systems. While ABMS has been effectively used in many disciplines, many successful models are still run only sequentially. Relying on simple and easy-to-use languages such as NetLogo limits the possibility to benefit from more effective runtime paradigms, such as speculative Parallel Discrete Event Simulation (PDES). In this paper, we discuss a semantically-rich API allowing to implement Agent-Based Models in a simple and effective way. We also describe the critical points which should be taken into account to implement this API in a speculative PDES environment, to scale up simulations on distributed massively-parallel clusters. We present an experimental assessment showing how our proposal allows to implement complicated interactions with a reduced complexity, while delivering a non-negligible performance increase

Advantages of versatile neural-network decoding for topological codes

Finding optimal correction of errors in generic stabilizer codes is a computationally hard problem, even for simple noise models. While this task can be simplified for codes with some structure, such as topological stabilizer codes, developing good and efficient decoders still remains a challenge. In our work, we systematically study a very versatile class of decoders based on feedforward neural networks. To demonstrate adaptability, we apply neural decoders to the triangular color and toric codes under various noise models with realistic features, such as spatially-correlated errors. We report that neural decoders provide significant improvement over leading efficient decoders in terms of the error-correction threshold. Using neural networks simplifies the process of designing well-performing decoders, and does not require prior knowledge of the underlying noise model.Comment: 11 pages, 6 figures, 2 table

Creating green space sustainability through low-budget and upcycling strategies

Frugality is a core notion of sustainability, and responsible resource management should be prioritized in urban planning and landscape architecture. Low-budget strategies as a deliberate means of creating valuable, attractive, well-used, sociable public spaces are recognized by some influential designers using the Light, cheap, quick methodology. Unused spaces, just like objects and waste, can be creatively changed, reinvented with little resource input through a circular solution of upcycling. Case study methodology was predominantly used in the inquiry with three new parks, built after the year 2004, in Faro, Portugal. The study examined how the success rate and the current state of these public green areas correlates with the amount of financial resources invested in each of the projects. The case studies show key aspects in the building of the three spaces including: urban context, management and community participation. The success rate of a place is established based on user activity observations, user counts and questionnairesconveyed amongst both experts and local residents. Results illustrate how low-budget strategies and limited use of funds and resources can be translated into a successful project of a public greenery. Comparative studies from Warsaw and Berlin further extend the discussion to the concept of upcycling as a sustainable solution for landscape architecture.Horizon 2020, European Cooperation in Science and Technology, COST Action RESTORE [CA16114

Implementation and evaluation of the sensornet protocol for Contiki

Sensornet Protocol (SP) is a link abstraction layer between the network layer and the link layer for sensor networks. SP was proposed as the core of a future-oriented sensor node architecture that allows flexible and optimized combination between multiple coexisting protocols. This thesis implements the SP sensornet protocol on the Contiki operating system in order to: evaluate the effectiveness of the original SP services; explore further requirements and implementation trade-offs uncovered by the original proposal. We analyze the original SP design and the TinyOS implementation of SP to design the Contiki port. We implement the data sending and receiving part of SP using Contiki processes, and the neighbor management part as a group of global routines. The evaluation consists of a single-hop traffic throughput test and a multihop convergecast test. Both tests are conducted using both simulation and experimentation. We conclude from the evaluation results that SP's link-level abstraction effectively improves modularity in protocol construction without sacrificing performance, and our SP implementation on Contiki lays a good foundation for future protocol innovations in wireless sensor networks

Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO

The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algorithms to run onboard, well above the standard video rates, yielding not only higher information processing capability, but also reduced latency. This work focuses on the applicability of efficient low-level, GPU hardware-specific instructions to improve on existing computer vision algorithms in the field of visual-inertial odometry (VIO). While most steps of a VIO pipeline work on visual features, they rely on image data for detection and tracking, of which both steps are well suited for parallelization. Especially non-maxima suppression and the subsequent feature selection are prominent contributors to the overall image processing latency. Our work first revisits the problem of non-maxima suppression for feature detection specifically on GPUs, and proposes a solution that selects local response maxima, imposes spatial feature distribution, and extracts features simultaneously. Our second contribution introduces an enhanced FAST feature detector that applies the aforementioned non-maxima suppression method. Finally, we compare our method to other state-of-the-art CPU and GPU implementations, where we always outperform all of them in feature tracking and detection, resulting in over 1000fps throughput on an embedded Jetson TX2 platform. Additionally, we demonstrate our work integrated in a VIO pipeline achieving a metric state estimation at ~200fps.Comment: IEEE International Conference on Intelligent Robots and Systems (IROS), 2020. Open-source implementation available at https://github.com/uzh-rpg/vili