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Pishgu: Universal Path Prediction Network Architecture for real-time Cyber-physical Edge systems 23

Pishgu: Universal Path Prediction Network Architecture for R...

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14th ACM/ieee international conference on Cyber-Physical systems (ICCPS) part of CPS-IoT Week

作者： Noghre, Ghazal Alinezhad Katariya, Vinit Pazho, Armin Danesh Neff, Christopher Tabkhi, Hamed Univ North Carolina Charlotte Charlotte NC 28223 USA

ISBN: (纸本)9798400700361

Path prediction is an essential task for many real-world Cyber-Physical systems (CPS) applications, from autonomous driving and traffic monitoring/management to pedestrian/worker safety. These real-world CPS applications need a robust, lightweight path prediction that can provide a universal network architecture for multiple subjects (e.g., pedestrians and vehicles) from different perspectives. However, most existing algorithms are tailor-made for a unique subject with a specific camera perspective and scenario. This article presents Pishgu, a universal lightweight network architecture, as a robust and holistic solution for path prediction. Pishgu's architecture can adapt to multiple path prediction domains with different subjects (vehicles, pedestrians), perspectives ( bird's-eye, high-angle), and scenes (sidewalk, highway). Our proposed architecture captures the inter-dependencies within the subjects in each frame by taking advantage of Graph Isomorphism Networks and the attention module. We separately train and evaluate the efficacy of our architecture on three different CPS domains across multiple perspectives (vehicle bird's-eye view, pedestrian bird's-eye view, and human high-angle view). Pishgu outperforms state-of-the-art solutions in the vehicle bird's-eye view domain by 42% and 61% and pedestrian high-angle view domain by 23% and 22% in terms of ADE and FDE, respectively. Additionally, we analyze the domain-specific details for various datasets to understand their effect on path prediction and model interpretation. Finally, we report the latency and throughput for all three domains on multiple embedded platforms showcasing the robustness and adaptability of Pishgu for real-world integration into CPS applications.

关键词： path prediction graph isomorphism cyber-physical systems deep learning

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fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics applications

fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 R...

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ieee/RSJ international conference on Intelligent Robots and systems (IROS)

作者： Lienen, Christian Middeke, Sorel Horst Platzner, Marco Paderborn Univ Dept Comp Sci D-33098 Paderborn Germany

ISBN: (纸本)9781665491907

Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation of many relevant tasks in robotics. ROS is the de-facto programming standard for robotics and decomposes an application into a set of communicating nodes. ReconROS is a previous approach that can map complete ROS nodes into hardware for acceleration. Since ReconROS relies on standard ROS communication layers, exchanging data between hardware-mapped nodes can lead to a performance bottleneck. This paper presents fpgaDDS, a lean data distribution service for hardware-mapped ROS 2 nodes. fpgaDDS relies on a customized and statically generated streaming-based communication architecture. We detail this communication architecture with its components and outline its benefits. We evaluate fpgaDDS on a test example and a larger autonomous vehicle case study. Compared to a ROS 2 application in software, we achieve speedups of up to 13.34 and reduce jitter by two orders of magnitude.

关键词： Field programmable gate arrays (FPGA)

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Runtime Orchestration of Distributed Control System Services with TOSCA, Kubernetes, and GitOps 21

Runtime Orchestration of Distributed Control System Services...

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21st international conference on Software Architecture (ICSA)

作者： Linsbauer, Sofia Hark, Rhaban Koziolek, Heiko Eskandani, Nafise ABB Corp Res Ctr Mannheim Germany

ISBN: (纸本)9798350366266;9798350366259

Runtime orchestration of cloud-native microservice systems remains a challenge with many technology options, such as Kubernetes for managing containers and OASIS TOSCA, a standard for orchestrating cloud services. Researchers and practitioners have proposed different approaches on how the benefits of Kubernetes and TOSCA could be combined, but followed different design philosophies and did not reach consensus. An analysis of the different combinations is missing and existing TOSCA and Kubernetes combinations do not consider the integration of real-time embedded controllers without container workloads, nor a safeguarding of configuration changes, which can be achieved using the GitOps paradigm. In this experience report, we describe and analyze different options for combining TOSCA and Kubernetes. Following one of the options, we have enhanced an existing TOSCA orchestrator to demonstrate software updates across heterogeneous software services as well as a GitOps extension for TOSCA service models. We found that TOSCA workflows are well suited for updates spanning different technologies and that a custom GitOps operator is needed in case not all components are orchestrated by Kubernetes.

关键词： Software architecture microservices software containers deployment OASIS TOSCA Kubernetes distributed control systems case study modeling GitOps

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Developing a Scalable IoT Architecture for Precision Agriculture Using Edge computing 2

Developing a Scalable IoT Architecture for Precision Agricul...

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2nd ieee international conference on IoT, Communication and Automation Technology, ICICAT 2024

作者： Varaprasad Rao, P. Varshney, Neeraj Sundaram, N.Kalyana Kishore, B. Husain, Saif O. Kanys, N. GRIET Bachupally Department of CSE Telangana Hyderabad India GLA University Department of Computer Engineering & Applications Mathura India New Prince Shri Bhavani College of Engineering and Technology Department of IT Tamil Nadu Chennai600073 India CMR Institute of Technology Department of ECE Telangana Hyderabad India The Islamic University College of Technical Engineering Department of Computers Techniques Engineering Najaf Iraq Dr.M.G.R.Educational and Research Institute Department of Information Technology India

ISBN: (纸本)9798350368109

The interoperability of more devices onto the IoT and the addition of the low-power applications like sensors and other embedded systems have posed severe security challenges. Many cryptographic protocols are ineffective for such devices since they demand high functionalities, thus the development of lightweight kinds of authentication. Based on this we would like to present a new lightweight authentication protocol suitable for IoT constrained devices. This protocol uses Elliptic Curve Cryptography (ECC) for key exchange part of the communication while using symmetric key cryptography for the actual data exchange. The feasibility and performance of the proposed protocol is analyzed and tested on real time sensed data obtained from the Intel Berkeley Research Lab dataset involving a make-believe IoT network of hundred devices. The performance evaluation shows enhanced energy reduction, the time taken in authentication, the amount of chatter in the network, and the amount of memory occupied, when compared with other approaches. The protocol is very flexible and can be integrated into any system;it also has the ability to counter most security threats hence suitable for low power IoT devices. The future work will also investigate other additional improvements and how other methods can be incorporated to improve security as well as performance. © 2024 ieee.

关键词： Authentication

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Anomaly Detection in Meteorological Data Using Machine Learning Techniques

Anomaly Detection in Meteorological Data Using Machine Learn...

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2025 ieee international Students' conference on Electrical, Electronics and Computer Science, SCEECS 2025

作者： Rawal, Uddhav Patel, Subhas Vit Bhopal University School of Computing Science Engineering and Artificial Intelligence Madhya Pradesh Sehore466114 India

ISBN: (纸本)9798331529833

Anomaly detection is a very important component in weather forecasting, disaster preparedness and climate modeling in meteorology. We use Density Based Spatial Clustering of applications with Noise, Isolation Forest, Local Outlier Factor, Elliptic Envelope and One Class Support Vector Machine to detect anomalies in Tunisian meteorological data in this study. Key meteorological parameters, such as wind speed, rainfall and temperature, was analyzed as the important indicators of atmospheric conditions. DBSCAN detected local density changes very well and is therefore a good choice for anomaly detection in areas with complex spatial patterns from the models used. Isolation Forest algorithm was able to find global anomalies with robust performance, giving very high true positive rates with minimum false positives. The use of these machine learning techniques is complementary and this dual approach shows how they can be used to detect different kinds of anomalies. The results show how machine learning can be used to make environmental monitoring and weather prediction much more accurate and reliable, with the ability to detect anomalies precisely and reliably. Having such capabilities is critical for taking proactive actions in response to extreme weather events, and to be able to intervene at the right time to minimize the impacts of the events. Additionally, these models could be integrated into real time monitoring systems to provide additional utility in optimizing their use and provide actionable insight for disaster management and climate resilience. Further research could involve the fusion of these algorithms with deep learning methods, larger datasets, and real time deployment to build intelligent systems that can learn and adapt to changing environmental conditions. This would be a large advance in applying machine learning in meteorology. © 2025 ieee.

关键词： Intelligent systems

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Assessment of time performance of lightweight virtualization for edge computing applications 19

Assessment of time performance of lightweight virtualization...

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ieee 19th international Workshop on Factory Communication systems (WFCS)

作者： Sisinni, Emiliano Bellagente, Paolo Depari, Alessandro Flammini, Alessandra Gaffurini, Massimiliano Pasetti, Marco Rinaldi, Stefano Ferrari, Paolo Univ Brescia Dept Informat Engn Brescia Italy

ISBN: (纸本)9781665464321

The demand for enhanced flexibility in automation systems, dictated by initiatives as the Industry 4.0 in Europe or the Industrial Internet Consortium in the United States, can be satisfied inheriting solutions of the information technology (the so called IT-OT convergence). Other than communication and cloud technologies, virtualization will play a relevant role in the next future. The use of lightweight virtualization, e.g., in the form of containers for implementing the edge computing paradigm, is a promising tool to dynamically provide services depending on the actual production needs. However, requirements of industrial automation applications are different from those of office-like counterparts. For this reason, methodologies for evaluating obtainable performance are needed. In this work, an industrial-grade framework, the Siemens Industrial Edge, is considered. A reference testbed is setup to evaluate latencies when information is exchanged between two user applications. Experiments demonstrate that round trip time in the order of 10 ms is feasible, compatible with the requirements of both process control systems and supervision applications.

关键词： lightweight virtualization edge computing container docker

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Collaborative Manipulation of Deformable Objects with Predictive Obstacle Avoidance

Collaborative Manipulation of Deformable Objects with Predic...

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ieee international conference on Robotics and Automation (ICRA)

作者： Aksoy, Burak Wen, John T. Rensselaer Polytech Inst Elect Comp & Syst Engn Troy NY 12180 USA

ISBN: (纸本)9798350384581;9798350384574

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of internal degrees of freedom and the complexity of predicting its motion. In this paper, we apply the computationally efficient position-based dynamics method to predict object motion and distance to obstacles. This distance is incorporated in a control barrier function for the resolved motion kinematic control for one or more robots to adjust their motion to avoid colliding with the obstacles. The controller has been applied in simulations to 1D and 2D deformable objects with varying numbers of assistant agents, demonstrating its versatility across different object types and multi-agent systems. Results indicate the feasibility of real-time collision avoidance through deformable object simulation, minimizing path tracking error while maintaining a predefined minimum distance from obstacles and preventing overstretching of the deformable object. The implementation is performed in ROS, allowing ready portability to different applications.

关键词： Multi agent systems

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Towards HW-SW Co-Design for Secure Industrial real-time Ethernet applications 28

Towards HW-SW Co-Design for Secure Industrial Real-Time Ethe...

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28th ieee international conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Doran, Hans Dermot Schneider, Sven Meisterhans, Judith Bronwasser, Joel Ganz, David Eberli, Stefan Zurich University of Applied Sciences Institute of Embedded Systems Winterthur Switzerland Duagon AG Dietikon Switzerland

ISBN: (纸本)9798350339918

real-time Ethernet protocols are currently undergoing specification updates to include security features. These features generally take the form of a public key infrastructure and associated network node and message authentication and, occasionally, message encryption. The addition of authentication and encryption in hard real-time applications adds substantial expense to both initial implementation and post-commissioning maintenance. In this body of work, we seek to manage this cost and complexity using high-level synthesis to generate field programmable gate array IP from an open-source security stack. We detail the motivation, first steps in the establishment of a process and first results. © 2023 ieee.

关键词： Field programmable gate arrays (FPGA)

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Towards Automated Identification of Layering Violations in embedded applications (WIP) 2023

Towards Automated Identification of Layering Violations in E...

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24th ACM SIGPLAN/SIGBED international conference on Languages, Compilers, and Tools for embedded systems (LCTES)

作者： Shen, Mingjie Davis, James C. Machiry, Aravind Purdue Univ W Lafayette IN 47907 USA

ISBN: (纸本)9798400701740

For portability, embedded systems software follows a layered design to reduce dependence on particular hardware behavior. We consider the problem of identifying layering violations: instances where the embedded application accesses non-adjacent layers. This paper presents our preliminary work to detect a class of layering violations called Non Conventional MMIO Accesses (NCMAs). We find them by searching for direct Memory Mapped Input Output (MMIO) accesses made outside of the Hardware Abstraction Layer (HAL). For evaluation, we curated a list of 988 applications spanning 5 real time Operating systems (RTOSes) - the first large dataset of compilable embedded applications. Our system identified 369 NCMAs. We reported these issues to the corresponding developers and found interesting reasons for committing layering violations. We have open-sourced our tool and the collected dataset to foster future research.

关键词： embedded systems Portability Firmware Hardware Abstraction Layer Static Analysis

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Authenticating Users In real World applications using Multi Modal Biometric System For Smartphone's Based Hidden Markov Model Compared With K Nearest Neighbor Algorithm 15

Authenticating Users In Real World Applications using Multi ...

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15th international conference on computing Communication and Networking Technologies, ICCCNT 2024

作者： Sandeepkumaryadax, G. Loganayagi, S. Department of Computer Science and Engineering Tamil Nadu Chennai602105 India

ISBN: (纸本)9798350370249

The overarching goal of this research is to improve Smartphone user identification in practical settings by using multi-model biometric systems. A dataset was retrieved from the Kaggle library for this specific research topic. Hidden Markov model with K-nearest-neighbor in practical settings, themethod is used to verify users' identities using Smartphone multimodal biometric systems, with distinct training and testingphases. Around 85% of the time, a G-power test will provide theexpected result with the default settings of =0.05 and power =0.85. The significance level was determined to be 0.014 with a p-value lower than 0.05. The Hidden Markov model outperforms the K closest neighbor algorithm (96.4770%), which was previously ranked at 93.8980%. Finally, when comparing accuracy between the Hidden Markov model and theK-Nearest Neighbor Algorithm, the former comes out on top statistically. © 2024 ieee.

关键词： applications facial recognition hidden Markov model mobile devices novel applications novel k-nearest neighbor algorithm Security smart phones

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