What Do Collaborations With The Arts Have To Say About Human-Robot Interaction?,
2010
Washington University in St Louis
What Do Collaborations With The Arts Have To Say About Human-Robot Interaction?, William D. Smart, Annamaria Pileggi, Leila Takayama
All Computer Science and Engineering Research
This is a collection of papers presented at the workshop "What Do Collaborations with the Arts Have to Say About HRI", held at the 2010 Human-Robot Interaction Conference, in Osaka, Japan.
Multi-Tier Diversified Service Architecture For Internet 3.0: The Next Generation Internet,
2010
Washington University in St Louis
Multi-Tier Diversified Service Architecture For Internet 3.0: The Next Generation Internet, Subharthi Paul, Raj Jain, Jianli Pan, Chakchai So-In
All Computer Science and Engineering Research
The next generation Internet needs to support multiple diverse application contexts. In this paper, we present Internet 3.0, a diversified, multi-tier architecture for the next generation Internet. Unlike the current Internet, Internet 3.0 defines a new set of primitives that allows diverse applications to compose and optimize their specific contexts over resources belonging to multiple ownerships. The key design philosophy is to enable diversity through explicit representation, negotiation and enforcement of policies at the granularity of network infrastructure, compute resources, data and users. The basis of the Internet 3.0 architecture is a generalized three-tier object model. The bottom tier consists …
Arch: Practical Channel Hopping For Reliable Home-Area Sensor Networks,
2010
Washington University in St Louis
Arch: Practical Channel Hopping For Reliable Home-Area Sensor Networks, Mo Sha, Gregory Hackmann, Chenyang Lu
All Computer Science and Engineering Research
Home area networks (HANs) promise to enable sophisticated home automation applications such as smart energy usage and assisted living. However, recent empirical study of HAN reliability in real-world residential environments revealed significant challenges to achieving reliable performance in the face of significant and variable interference from a multitude of coexisting wireless devices. We propose the Adaptive and Robust Channel Hopping (ARCH) protocol: a lightweight receiveroriented protocol which handles the dynamics of residential environments by reactively channel hopping when channel conditions have degraded. ARCH has several key features. First, ARCH is an adaptive protocol that channel-hops based on changes in channel …
Performance Tuning Of Streaming Applications Via Search-Space Decomposition,
2010
Washington University in St Louis
Performance Tuning Of Streaming Applications Via Search-Space Decomposition, Shobana Padmanabhan, Roger D. Chamberlain, Yixin Chen
All Computer Science and Engineering Research
High-performance streaming applications are typically pipelined and deployed on architecturally diverse (hybrid)systems. Developers of such applications are interested in customizing components used, so as to benefit application performance. We present an efficient and automatic technique for design-space exploration of applications in this problem domain. We solve performance tuning as an optimization problem by formulating cost functions using results from queueing theory. This results in a mixed-integer nonlinear optimization problem which is NP-hard. We reduce the search complexity by decomposing the search space. We have developed a domain-specific decomposition technique using topological information of the application embodied in the queueing network …
The Design And Implementation Of Mcflow: A Real-Time Multi-Core Aware Middleware For Dependent Task Graphs,
2010
Washington University in St Louis
The Design And Implementation Of Mcflow: A Real-Time Multi-Core Aware Middleware For Dependent Task Graphs, Huang-Ming Huang, Christopher Gill, Chenyang Lu
All Computer Science and Engineering Research
Modern computer architectures have evolved from uni-processor platforms to multi-processor and multi-core plat- forms, but traditional real-time distributed middleware such as RT-CORBA has not kept pace with that evolution. To address those issues, this paper describes the design and implementation of MCFlow, a new real-time distributed middleware for dependent task graphs running on multi-core platforms. MCFlow provides the following contributions to the state of the art in real-time middleware: (1) it provides an efficient C++ based component model through which computations can be configured flexibly for execution within a single core, across cores of a common host, or spanning multiple …
Optimal Design-Space Exploration Of Streaming Applications,
2010
Washington University in St Louis
Optimal Design-Space Exploration Of Streaming Applications, Shobana Padmanabhan, Yixin Chen, Roger D. Chamberlain
All Computer Science and Engineering Research
Many embedded and scientific applications are frequently pipelined asynchronously and deployed on architecturally diverse systems to meet performance requirements and resource constraints. We call such pipelined applications streaming applications. Typically, there are several design parameters in the algorithms and architectures used that, when customized, impact the tradeoff between different metrics of application performance as well as resource utilization. Automatic exploration of this design space is the goal of this research. When using architecturally diverse systems to accelerate streaming applications, the design search space is often complex. We present a global optimization framework comprising a novel domain-specific variation of branch-and-bound that …
Priority Assignment For Real-Time Flows In Wirelesshart Sensor-Actuator Networks,
2010
Washington University in St Louis
Priority Assignment For Real-Time Flows In Wirelesshart Sensor-Actuator Networks, Abusayeed Saifullah, You Chenyang, Yixin Chen
All Computer Science and Engineering Research
Recent years have witnessed the adoption of wireless sensor-actuator networks as a communication infrastructure for process control applications. An important enabling technology for industrial process control is WirelessHART, an open wireless sensor-actuator network standard specifically developed for process industries. A key challenge faced byWirelessHART networks is to meet the stringent real-time communication requirements imposed by feedback control systems in process industries. Fixed priority scheduling, a popular scheduling policy in real-time networks, has recently been shown to be an effective real-time transmission scheduling policy in WirelessHART networks. Priority assignment has a major impact on the schedulability of real-time flows in these …
Toward A Two-Tier Clinical Warning System For Hospitalized Patients,
2010
Washington University in St Louis
Toward A Two-Tier Clinical Warning System For Hospitalized Patients, Gregory Hackmann, Minmin Chen, Octav Chipara, Chenyang Lu, Yixin Chen, Marin Kollef, Thomas C. Bailey
All Computer Science and Engineering Research
Clinical study has found early detection and intervention to be essential for preventing clinical deterioration in patients at general hospital units. In this paper, we envision a two-tiered early warning system designed to identify the signs of clinical deterioration and provide early warning of serious clinical events. The first tier of the system automatically identifies patients at risk of clinical deterioration from existing electronic medical record databases. The second tier performs real-time clinical event detection based on real-time vital sign data collected from on-body wireless sensors attached to those high-risk patients. We employ machine-learning techniques to analyze data from both …
A Scalable Method For Solving High-Dimensional Continuous Pomdps Using Local Approximation,
2010
Washington University in St Louis
A Scalable Method For Solving High-Dimensional Continuous Pomdps Using Local Approximation, Tom Erez, William D. Smart
All Computer Science and Engineering Research
Partially-Observable Markov Decision Processes (POMDPs) are typically solved by finding an approximate global solution to a corresponding belief-MDP. In this paper, we offer a new planning algorithm for POMDPs with continuous state, action and observation spaces. Since such domains have an inherent notion of locality, we can find an approximate solution using local optimization methods. We parameterize the belief distribution as a Gaussian mixture, and use the Extended Kalman Filter (EKF) to approximate the belief update. Since the EKF is a first-order filter, we can marginalize over the observations analytically. By using feedback control and state estimation during policy execution, …
Against All Probabilities: A Modeling Paradigm For Streaming Applications That Goes Against Common Notions,
2010
Washington University in St Louis
Against All Probabilities: A Modeling Paradigm For Streaming Applications That Goes Against Common Notions, Rahav Dor
All Computer Science and Engineering Research
Hardware and software design requires the right portion of skills and mental faculties. The design of a good system is an exercise in rational thinking, engineering, and art. The design process is further complicated when we aspire to build systems that exploit parallelism or are targeted to be deployed on architecturally diverse computing devices, FPGAs or GPUs to name just a few. The need to develop systems that can take advantage of computing devices beyond general purpose CPUs is real. There are several application domains and research efforts that will simply not be able to adequately perform or yield answers …
Split And Merge Functions For Supporting Multiple Processing Pipelines In Mercury Blastn,
2010
Washington University in St Louis
Split And Merge Functions For Supporting Multiple Processing Pipelines In Mercury Blastn, Jwalant Ahir, Jeremy Buhler, Roger D. Chamberlain
All Computer Science and Engineering Research
Biosequence similarity search is an important application in computational biology. Mercury BLASTN, an FPGA-based implementation of BLAST for DNA, is one of the alternatives for fast DNA sequence comparison. The re-design of BLAST into a streaming application combined with a high-throughput hardware pipeline have enabled Mercury BLAST to emerge as one of the fastest implementations of bio-sequence similarity search. This performance can be further enhanced by exploiting the data-level parallelism present within the application. Here we present a multiple FPGA-based Mercury BLASTN design in order to double the speed and throughput of DNA sequence computation. This paper describes a dual …
Multi-Channel Reliability And Spectrum Usage In Real Homes: Empirical Studies For Home-Area Sensor Networks,
2010
Washington University in St Louis
Multi-Channel Reliability And Spectrum Usage In Real Homes: Empirical Studies For Home-Area Sensor Networks, Mo Sha, Gregory Hackmann, Chenyang Lu
All Computer Science and Engineering Research
Home area networks (HANs) consisting of wireless sensors have emerged as the enabling technology for important applications such as smart energy and assisted living. A key challenge faced by HANs is maintaining reliable operation in real-world residential environments. This paper presents two in-depth empirical studies on the wireless channels in real homes. The spectrum study analyzes the spectrum usage in the 2.4 GHz band where wireless sensor networks based on the IEEE 802.15.4 standard must coexist with existing wireless devices. We characterize the ambient wireless environment in six apartments through passive spectrum analysis across the entire 2.4 GHz band over …
End-To-End Delay Analysis For Fixed Priority Scheduling In Wirelesshart Networks,
2010
Washington University in St Louis
End-To-End Delay Analysis For Fixed Priority Scheduling In Wirelesshart Networks, Abusayeed Saifullah, You Xu, Chenyang Lu, Yixin Chen
All Computer Science and Engineering Research
The WirelessHART standard has been specifically designed for real-time communication between sensor and actuator devices for industrial process monitoring and control. End-to-end communication delay analysis for WirelessHART networks is required for acceptance test of real-time data flows from sensors to actuators and for workload adjustment in response to network dynamics. In this paper, we map the scheduling of real-time periodic data flows in a WirelessHART network to real-time multiprocessor scheduling. We, then, exploit the response time analysis for multiprocessor scheduling and propose a novel method for the end-to-end delay analysis of the real-time flows that are scheduled using a fixed …
An Inexpensive Robot Platform For Teleoperation And Experimentation,
2010
Washington University in St Louis
An Inexpensive Robot Platform For Teleoperation And Experimentation, Daniel A. Lazewatsky, William D. Smart
All Computer Science and Engineering Research
Most commercially-available robots are either aimed at the research community, or are designed with a single purpose in mind. The extensive hobbyist community has tended to focus on the hardware and the low-level software aspects. We claim that there is a need for a low-cost, general-purpose robot, accessible to the hobbyist community, with sufficient computation and sensing to run ``research-grade'' software. In this paper, we describe the design and implementation of such a robot. We explicitly outline our design goals, and show how a capable robot can be assembled from off-the-shelf parts, for a modest cost, by a single person …
E-Quality: Using Dimensional Index Values Towards Improving Classification Accuracy,
2010
University of Texas at El Paso
E-Quality: Using Dimensional Index Values Towards Improving Classification Accuracy, Prashanth Devaram
Open Access Theses & Dissertations
E-quality is a process through which inspection of the process and quality of the part produced is done online resulting in the improvement of the process and reduction in the amount of time consumed for the overall process. Automated quality control involves using a methodology to classify the parts based on the dimensions of the features on a part. However, achieving 100% classification accuracy is not an easy task, especially in area of quality control where small differences in dimensions result in part fall into a different category. In this study, a novel approach for modifying the data before being …
An Empirical Evaluation Of The Effectiveness Of Jml Assertions As Test Oracles,
2010
University of Denver
An Empirical Evaluation Of The Effectiveness Of Jml Assertions As Test Oracles, Kavir Shrestha
Electronic Theses and Dissertations
Test oracles remain one of the least understood aspects of the modern testing process. An oracle is a mechanism used by software testers and software engineers for determining whether a test has passed or failed. One widely-supported approach to oracles is the use of runtime assertion checking during the testing activity. Method invariants,pre- and postconditions help detect bugs during runtime. While assertions are supported by virtually all programming environments, are used widely in practice, and are often assumed to be effective as test oracles, there are few empirical studies of their efficacy in this role. In this thesis, we present …
Safety Data Dissemination Framework For Vehicular Networks,
2010
NIMBUS Centre for Embedded Systems Research, Cork Institute of Technology, Cork, Ireland.
Safety Data Dissemination Framework For Vehicular Networks, Martin Koubek
Theses
An effective transportation system is essential to modern societies with transportation having a significant influence on economic growth, social development and the environment. But this dependence on road mobility has had serious consequences in terms of rising crash costs that include deaths, injuries, lost productivity, material damage and congestion. The European Union and many other governments worldwide support active safety as being the next logical step in diminishing crash costs after passive safety (safety belt, ABS etc.) where drivers will be warned prior to reaching hazardous situations enabling them to react appropriately. While improving road safety is unanimously considered the …
State Variable Distributed-Parameter Representation Of Transmission Line For Transient Simulations,
2010
TÜBİTAK
State Variable Distributed-Parameter Representation Of Transmission Line For Transient Simulations, Mehmet Sali̇h Mami̇ş, Asim Kaygusuz, Muhammet Köksal
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a distributed-parameter state variable approach is used to calculate transients on transmission lines based on the concept of travelling waves. The method of characteristics for lossless line is used and the state equations are derived for the system. These equations are converted to a set of difference equations using the trapezoidal rule of integration and solved in time domain using LU decomposition. Single- and multi-phase transmission lines with various linear and non-linear terminations are considered in the illustrative examples. State-space modeling of transposed lines using modal decomposition is introduced and the effects caused by lumped parameter approximation …
Hardware Certification For Real-Time Safety-Critical Systems: State Of The Art,
2010
Embry-Riddle Aeronautical University
Hardware Certification For Real-Time Safety-Critical Systems: State Of The Art, Andrew J. Kornecki, Janusz Zalewski
Department of Electrical Engineering and Computer Science - Daytona Beach
This paper discusses issues related to the RTCA document DO-254 Design Assurance Guidance for Airborne Electronic Hardware and its consequences for hardware certification. In particular, problems related to circuits’ compliance with DO-254 in avionics and other industries are considered. Extensive literature review of the subject is given, including current views on and experiences of chip manufacturers and EDA industry with qualification of hardware design tools, including formal approaches to hardware verification. Some results of the authors’ own study on tool qualification are presented.
Wired For War: The Robotics Revolution And Conflict In The Twenty-First Century,
2010
Mississippi College School of Law
Wired For War: The Robotics Revolution And Conflict In The Twenty-First Century, Frank Rosenblatt
Journal Articles
Pity the librarian who receives a copy of P.W. Singer's Wired for War and must decide where to put it. Since the book wrestles with the changing nature of warfare, it could fit in with other books on war and military affairs. It may also belong in the science fiction section, since it is largely a tribute to the vision of science fiction writers such as Isaac Asimov. Perhaps Wired for War should go alongside works by other futurist thinkers such as George Orwell and Freeman Dyson. Is it really an ethics book? A science text? Strong arguments could be …
