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Statistical analysis of stochastic multi-robot boundary coverage

Statistical analysis of stochastic multi-robot boundary cove...

引用

ieee international conference on Robotics and Automation (ICRA)

作者： Ganesh P. Kumar Spring Berman School of Computing Informatics Decision Systems Engineering Arizona State University Tempe AZ USA School for Engineering of Matter Transport and Energy Arizona State University Tempe AZ USA

We present a novel analytical approach to computing the population and geometric parameters of a multi-robot system that will provably produce specified boundary coverage statistics. We consider scenarios in which robots with no global position information, communication, or prior environmental data have arrived at uniformly random locations along a simple closed or open boundary. This type of scenario can arise in a variety of multi-robot tasks, including surveillance, collective transport, disaster response, and therapeutic and imaging applications in nanomedicine. We derive the probability that a given point robot configuration is saturated, meaning that all pairs of adjacent robots are no farther apart than a specified distance. This derivation relies on a geometric interpretation of the saturation probability and an application of the Inclusion-Exclusion Principle, and it is easily extended to finite-sized robots. In the process, we obtain formulas for (a) an integral that is in general computationally expensive to compute directly, and (b) the volume of the intersection of a regular simplex with a hypercube. In addition, we use results from order statistics to compute the probability distributions of the robot positions along the boundary and the distances between adjacent robots. We validate our derivations of these probability distributions and the saturation probability using Monte Carlo simulations of scenarios with both point robots and finite-sized robots.

关键词： Equations Robot sensing systems Robot kinematics Tin Joints

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A virtual PHR authorization system

A virtual PHR authorization system

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ieee EMBS international conference on Information Technology Applications in Biomedicine (ITAB)

作者： M. Poulymenopoulou F. Malamateniou G. Vassilacopoulos Department of Digital Systems University of Piraeus Piraeus Greece

Cloud computing and Internet of things (IOT) technologies can support a new generation of PHR systems which are provided as cloud services that contain patient data (health and social) from various sources, including automatically transmitted data from Internet connected devices of patient living space (e.g. medical devices connected to patients at home care). In this paper, the virtual PHR concept is introduced as an entity on the network consisted of (a) a non-healthcare component containing health and social information collected by either the patient or non-healthcare providers, (b) a medical device component containing health information transmitted from Internet connected medical devices and (c) a healthcare professional component containing information stored into various healthcare information systems. The PHR concept is based on the patient-centered model dictating that patients are the owners of their information. Hence, patients are empowered to authorize other subjects to access it that introduces specific security challenges which are further accentuated by the fact that diverse local security policies may need to be reconciled. The PHR authorization system proposed here is based on a combination of role-based and attribute-based access control (RABAC) and supports patient-specified authorization policies of various granularity levels subject to constraints imposed by the security policies of the various health and social care providers involved. To this end, an ontology of granular security concepts is built to aid in semantically matching diverse authorization requests and to enable semantic rule reasoning on whether a requested access should be permitted or denied.

关键词： Authorization Ontologies Medical services Cloud computing Semantics Filtering

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Towards Independent In-Cloud Evolution of Cyber-Physical Systems

Towards Independent In-Cloud Evolution of Cyber-Physical Sys...

引用

ieee international conference on Cyber-Physical Systems, Networks, and Applications (CPSNA)

作者： Amir Taherkordi Frank Eliassen Department of Informatics University of Oslo Norway

The capabilities of Cyber-Physical Systems (CPSs) are increasingly being extended towards new composite services deployed across a range of smart sensing and controlling devices. These services enable the emergence of multiple end-to-end cyber-physical scenarios, formed dynamically based on their demands, e.g., disaster recovery systems. In such scenarios, each cyber-physical flow may be composed of a large number of physical services with composition challenges such as high dynamism of CPS platforms, rapid development and scalability, and real-time and reliable processing and controlling tasks. Cloud computing enables new perspectives in the design and operation of CPSs, including consolidating and sharing physical services among different applications, auto-scaling computing and communication, and designing and maintaining multiple in-Cloud CPSs dynamically at the same time. In this paper, we present a new architectural approach to address the key concerns of a new generation of CPS services whose functionalities reside in-Cloud (cyber), and on devices and systems (physical). In particular, this design space is focused on principles that allow in-Cloud evolution of CPS services, including dynamic in-Cloud service composition and distribution, virtualization of physical services and devices, and the dynamic creation of CPS ecosystems. In this design model, the in-Cloud cyber part may evolve independently, while the on-device cyber and physical platform still work closely together and provide the basic CPS services.

关键词： Sensors Ecosystems Process control Semantics Virtualization Monitoring Vehicles

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Making your programming questions be answered quickly: A content oriented study to technical Q&A forum

Making your programming questions be answered quickly: A con...

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international conference on Collaborative computing: Networking, Applications and Worksharing (CollaborateCom)

作者： Yi Wang Department of Informatics University of California Irvine CA USA

ISBN: (纸本)9781479953288

Online programming forums enable programming knowledge sharing across organizational boundaries. Understanding how questions are asked and answered in forums will not only help developer to access the knowledge they need fast but bring important design implications. We report a study of Q&A process on MSDN's visual C# general forum. This study is content oriented instead of conventional social factor analysis to Communities of Q&A. We identified eight topic categories through two-round card *** also explored various content feature's influence to Q&A process. A qualitative analysis was performed to identify different life-cycle patterns of questions. These findings highlight the role of content features, and the interaction effects between them. Based on these findings, we make a set of suggestions to information seekers on how to make their questions be answered faster, and derive implications for technical forums design and operation. To verify our findings, we also conducted a small replication to a Java technical forum and compared the results.

关键词： Programming Software Sorting Message systems Communities Java Media

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Understanding Requirements Driven Architecture Evolution in Social Networking SaaS: An Industrial Case Study

Understanding Requirements Driven Architecture Evolution in ...

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2014 ieee 8th international Symposium on Service Oriented System Engineering

作者： Dong Sun Rong Peng Wei-Tek Tsai State Key Lab of Software Engineering Wuhan University Wuhan China School of Computing Informatics and Decision Systems Engineering Arizona State University Tempe USA

Recently many companies have featured their applications as SaaS (Software as a Service) applications where applications will be treated as services and provided online for thousands and millions of users. Social Networking SaaS (SNS) is one of the most popular kinds of SaaS. The key to the success of a SNS heavily relies on the scale of users. With the explosive growth of users, SNS's architecture should be able to change according to the demand. To better understand what kind of requirements influences SNS's architecture most, and learn the relationships between these requirements and the evolution progress of architecture, this paper carried out a dedicated analysis on a popular SNS application, Instagram. The lessons learned show that: 1) Demands on scalability and real-time are the main driven forces to architecture redesign, 2) Data coming from extensive monitoring is one of the most important sources of evolutionary requirements/issues, which drives different types of architecture evolution, 3) Reusing existing components is the key factor to evolve architecture rapidly and costly. The lessons learned can help engineers and researchers understand the co-evolution progress between requirements and architectures, and how to devise appropriate architectures to meet the possible evolution challenges for SNS.

关键词： Computer architecture Monitoring Servers Androids Humanoid robots Databases Scalability

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Improving MapReduce Performance in a Heterogeneous Cloud: A Measurement Study

Improving MapReduce Performance in a Heterogeneous Cloud: A ...

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ieee international conference on Cloud computing, CLOUD

作者： Xu Zhao Ling Liu Qi Zhang Xiaoshe Dong Xi'an Jiaotong University Shanxi China Georgia Institute of Technology Atlanta Georgia USA

Hybrid clouds, geo-distributed cloud and continuous upgrades of computing, storage and networking resources in the cloud have driven datacenters evolving towards heterogeneous clusters. Unfortunately, most of MapReduce implementations are designed for homogeneous computing environments and perform poorly in heterogeneous clusters. Although a fair of research efforts have dedicated to improve MapReduce performance, there still lacks of in-depth understanding of the key factors that affect the performance of MapReduce jobs in heterogeneous clusters. In this paper, we present an extensive experimental study on two categories of factors: system configuration and task scheduling. Our measurement study shows that an in-depth understanding of these factors is critical for improving MapReduce performance in a heterogeneous environment. We conclude with five key findings: (1) Early shuffle, though effective for reducing the latency of MapReduce jobs, can impact the performance of map tasks and reduce tasks differently when running on different types of nodes. (2) Two phases in map tasks have different sensitive to input block size and the ratio of sort phase with different block size is different for different type of nodes. (3) Scheduling map or reduce tasks dynamically with node capacity and workload awareness can further enhance the job performance and improve resource consumption efficiency. (4) Although random scheduling of reduce tasks works well in homogeneous clusters, it can significantly degrade the performance in heterogeneous clusters when shuffled data size is large. (5) Phase-aware progress rate estimation and speculation strategy can provide substantial performance gain over the state of art speculation scheduler.

关键词： Current measurement Peer-to-peer computing Resource management Benchmark testing Performance gain Scheduling Correlation

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Digital Fingerprinting on Executable File for Tracking Illegal Uproaders

Digital Fingerprinting on Executable File for Tracking Illeg...

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ieee Annual Computer Software and Applications conference Workshops (COMPSACW)

作者： Masayuki Tsubouchi Tomotaka Maeda Yasuo Okabe Graduate School of Informatics Kyoto University Kyoto Japan Academic Center for Computing and Media Studies Kyoto University Kyoto Japan

Unauthorized use of digital contents has become a problem in recent years. In particular, spread of illegally copied software is getting serious. Conventional approaches have drawbacks that they hamper the convenience of legitimate users. In this study, we bring up another idea "identifying the person who illegally distributed a fraud software code" so as not to limit the rights of innocent users, by embedding digital fingerprinting. In our digital fingerprinting scheme, code blocks of the target execution code are fragmented and reordered at random. Fingerprint is embedded as the control for execution of the fragmented code blocks in the original order. Dummy codes are inserted so that attackers would have difficulty in tracking the original execution flow and removing the fingerprint. A preliminary evaluation shows that of a fingerprinted code based on our scheme has enough robustness against existing obfuscator and our system works enough efficiently in execution time.

关键词： Fingerprint recognition Watermarking Robustness conferences Algorithm design and analysis Computers Software

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On using P2P technology to enable opportunistic management in DTNs through statistical estimation

On using P2P technology to enable opportunistic management i...

引用

ieee international conference on Communications (ICC)

作者： Jéferson C. Nobre Pedro Arthur P. R. Duarte Lisandro Z. Granville Liane M. R. Tarouco Fábio Bertinatto Institute of Informatics Federal University of Rio Grande do Sul Porto Alegre Brazil Institute of Informatics University of Vale do Rio dos Sinos São Leopoldo Brazil

Disruption-Tolerant Networks (DTNs) are characterized by long delays and constant disconnections among nodes. These networks have management needs analogous to those of traditional computer networks, but, their intrinsic characteristics (e.g., intermittent connections) hinder the execution of network management tasks. The employment of P2P technology is an alternative for managing DTNs since this technology promotes the autonomy of management entities (i.e., management peers). This autonomy enables the use of local logic and data in order to perform opportunistic management tasks. We propose a solution to estimate the future contacts of nodes through distributed statistical analysis of past contacts. Besides that, nodes can share information about their contacts to improve contact estimation using a P2P management overlay. The proposed solution was implemented using an open source P2P-Based Network Management (P2PBNM) system, ManP2P-ng. Furthermore, the solution was evaluated through experiments performed using publicly available DTN traces. The results show that the proposed solution can improve the execution of management tasks in DTNs.

关键词： Peer-to-peer computing Estimation Monitoring Employment History Context Standards

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Dynamic Modeling, Analysis and Evaluate of Safeguard Strength on Emergency

Dynamic Modeling, Analysis and Evaluate of Safeguard Strengt...

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2014 ieee international conference on Service Operations and Logistics,and informatics

作者： FanDong LiYan Ganyulu YinJin RdiCenter Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Syst ems and Technology Institute of Automation Chinese Academy of Sciences Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences

To improve emergency management level of Locals,agencies,enterprises,this paper proposed a technology methods of dynamic modeling,analysis and evaluate of safeguard strength on ***,the framework of implement were structured and verified by a *** results show that emergency management level can be remarkable enhanced through the implement of structuralization,digitization,Modeling of emergency response plan(ERP).

关键词： Safeguard Strength on Emergency,emergency response plan,relational matrix of disaster chains,the engine of workflow,structuralization of emergency response plan.

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ROBOPuppet: Low-Cost, 3D Printed Miniatures for Teleoperating Full-Size Robots

ROBOPuppet: Low-Cost, 3D Printed Miniatures for Teleoperatin...

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ieee/RSJ international conference on Intelligent Robots and Systems

作者： Anna Eilering Giulia Franchi Kris Hauser School of Informatics and Computing Indiana University Bloomington IN 47405 USA

ISBN: (纸本)9781479969357

ROBOPuppet is a method to create inexpensive, tabletop-sized robot models to provide teleoperation input to full-sized robots. It provides a direct physical correspondence from the device to the robot, which is appealing because users form an immediate "mental mapping" of the input-output behavior. We observe that untrained users can immediately exploit tactile and physical intuition when controlling the puppet to perform complex actions the target robot. The key contribution of this paper is a build procedure that embeds standardized encoder modules into scaled-down CAD models of the robot links, which are then 3D printed and assembled. This procedure is generalizable to variety of robots, and parts cost approximately seventeen dollars per link. We also present a simple software tool for fast calibration of the puppet-robot mapping, and a safety filtering procedure that sanitizes the noisy inputs so that the robot avoids collisions and satisfies dynamic constraints. A prototype ROBOPuppet is built for a 6DOF industrial manipulator and tested in simulation and on the physical robot.

关键词： Joints Collision avoidance Assembly Geometry Service robots Educational robots

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