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simulation and platform tools to develop safe flock of UAVs: a CPS application-driven research

Simulation and platform tools to develop safe flock of UAVs:...

引用

international conference on Unmanned Aircraft systems (ICUAS)

作者： Laurent Ciarletta Adrien Guenard Yannick Presse Virgine Galtier Ye-Qiong Song Jean-Christophe Ponsart Samir Aberkane Didier Theilliol UMR 7503 Lorraine University Nancy France Loria Lyon France Madynes INRIA Nancy France Supélec UMI Metz France Centre de Recherche en Automatique de Nancy Universit de Lorraine France

Autonomous formation flying (flocking) of UAVs requires coordination of efforts and solutions in multiple research fields (robotics, wireless sensor networks to name a few). The Airborne embedded auTonomOUs Robust Network of Objects and Sensors (AETOURNOS) project is designed as a federative, fueling platform and global evaluation tool. It has spawned another collaborative project bridging the gap between computer Science and Automation: 6PO (Cyber-Physical systems and Cooperative Control of a Fleet of UAVs). We want to investigate new flocking strategies, mobility-aware communication protocols (and reciprocally: movements influenced by network QoS), and to ease the cooperation between experts, we need co-simulation solutions, and “universal” control interfaces. This article presents our first contribution to this grand scheme: a stand-alone simulation of an autonomous flocking strategy taking into account both the dynamics of the UAVs and their communications, which has allowed us to examine the relation between network unreliability and control computation. To better study the influence of the communication network, we present an architecture coupling a dedicated network simulator with the UAVs simulator, as well as with a real drone piloting interface. The lessons learned help us build a research and action plan for the years to come.

关键词： Robot kinematics Mathematical model Collision avoidance Robot sensing systems Computational modeling

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Stochastic modeling and Performance Analysis of Multimedia SoCs

Stochastic Modeling and Performance Analysis of Multimedia S...

引用

13th international conference on embedded computer systems - architectures, modeling and simulation (IC-SAMOS)

作者： Raman, Balaji Nouri, Ayoub Gangadharan, Deepak Bozga, Marius Basu, Ananda Maheshwari, Mayur Legay, Axel Bensalem, Saddek Chakraborty, Samarjit UJF Grenoble 1 CNRS VERIMAG UMR 5104 F-38041 Grenoble France Tech Univ Denmark Aalborg Denmark INRIA Rennes France Tech Univ Munich D-80290 Munich Germany

ISBN: (纸本)9781479901036

Reliability and flexibility are among the key required features of a framework used to model a system. Existing approaches to design resource-constrained, soft-real time systems either provide guarantees for output quality or account for loss in the system, but not both. We propose two independent solutions where each modeling technique has both the above mentioned characteristics. We present a probabilistic analytical framework and a statistical model checking approach to design system-on-chips for low-cost multimedia systems. We apply the modeling techniques to size the output buffer in a video decoder. The results shows that, for our stochastic design metric, the analytical framework upper bounds (and relatively accurate) compare to the statistical model checking technique. Also, we observed significant reduction in resource usage (such as output buffer size) with tolerable loss in output quality.

关键词： formal verification logic design multimedia systems performance evaluation probability real-time systems resource allocation statistical analysis stochastic processes system-on-chip video coding

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Cobra: a Comprehensive Bundle-based Reliable Architecture

Cobra: a Comprehensive Bundle-based Reliable Architecture

引用

13th international conference on embedded computer systems - architectures, modeling and simulation (IC-SAMOS)

作者： Pellegrini, Andrea Bertacco, Valeria Univ Michigan Adv Comp Architecture Lab Ann Arbor MI 48109 USA

ISBN: (纸本)9781479901036

The declining robustness of transistors and their ever-denser integration threatens the dependability of future microprocessors. Classic multicores offer a simple solution to overcome hardware defects: faulty processors can be disabled without affecting the rest of the system. However, this approach becomes quickly an impractical solution at high fault rates. Recently, distributed computer architectures have been proposed to mitigate the effects of faulty transistors by utilizing fine-grained hardware reconfiguration, managed by fully decoupled control logic. Unfortunately, such solutions trade flexibility for execution locality, and thus they do not scale to large systems. To overcome this issue we propose Cobra, a distributed, scalable, highly parallel reliable architecture. Cobra is a service-based architecture where groups of dynamic instructions flow independently through the system, making use of the available hardware resources. Cobra organizes the system's units dynamically using a novel resource assignment that preserves locality and limits communication overhead. Our experiments show that Cobra is extremely dependable, and outperforms classic multicores when subjected to 5 or more defects per 100 million transistors. We also show that Cobra operates 80% faster than previous state-of-the-art solutions on multi-programmed SPEC CPU2006 workloads and it improves cache hit rate by up to 62%. Our runtime fault detection techniques have a performance impact of only 3%.

关键词： multiprocessing systems parallel architectures

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Efficient Runtime Support for embedded MPSoCs

Efficient Runtime Support for Embedded MPSoCs

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13th international conference on embedded computer systems - architectures, modeling and simulation (IC-SAMOS)

作者： Theodoropoulos, Dimitris Pratikakis, Polyvios Pnevmatikatos, Dionisios Fdn Res & Technol Hellas FORTH Inst Comp Sci Comp Architecture & VLSI Syst Lab GR-70013 Iraklion Greece

ISBN: (纸本)9781479901036

Recently, many software runtime systems have been proposed that allow developers to efficiently map applications to contemporary consumer electronic devices and high-performance academic processing platforms. Most of these runtime systems employ advanced scheduling techniques for automatic task assignment to all available processing elements. However, they focus on a particular environment and architecture, and it is not easy to port them to reconfigurable embedded MPSoCs. As a consequence, in the embedded community, researchers implement hardwired application-specific task schedulers, which can not be used by other embedded MPSoCs. To address this problem, in this paper we propose a lightweight runtime software framework for reconfigurable shared-memory MPSoCs, that integrate a master embedded processor connected to slave cores. Similarly to many of the aforementioned advanced runtime systems, we adopt a task-based programming model that uses simple, pragma-based annotations of the application software, in order to dynamically resolve task dependencies. Our runtime system supports heterogeneity in the hardware resources, and is also low-overhead to account for possible limitations in their processing capabilities and available on-chip memory. To evaluate our proposal, we have prototyped an MPSoC with seven slaves to a Xilinx ML605 FPGA board. We run three micro-benchmarks that achieve a performance speedup of 3.8x, 7x and 5.8x, and energy consumption of 27%, 14% and 18% respectively, compared to a single-core baseline system with no runtime support.

关键词： runtime support embedded MPSoCs FPGAs

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The development of a data-driven application benchmarking approach to performance modelling

The development of a data-driven application benchmarking ap...

引用

international conference on High Performance Computing & simulation (HPCS)

作者： A. Osprey G. D. Riley M. Manjunathaiah B. N. Lawrence University of Reading UK National Centre for Atmospheric Science (NCAS) UK University of Manchester UK

ISBN: (纸本)9781479951604

Performance modelling is a useful tool in the lifeycle of high performance scientific software, such as weather and climate models, especially as a means of ensuring efficient use of available computing resources. In particular, sufficiently accurate performance prediction could reduce the effort and experimental computer time required when porting and optimising a climate model to a new machine. Yet as architectures become more complex, performance prediction is becoming more difficult. Traditional methods of performance prediction, based on source code analysis and supported by machine benchmarks, are proving inadequate to the task. In this paper, the reasons for this are explored by applying some traditional techniques to predict the computation time of a simple shallow water model which is illustrative of the computation (and communication) involved in climate models. These models are compared with real execution data gathered on AMD Opteron-based systems, including several phases of the U.K. academic community HPC resource, HECToR. Some success is had in relating source code to achieved performance for the K10 series of Opterons, but the method is found to be inadequate for the next-generation Interlagos processor. The experience leads to the investigation of a data-driven application benchmarking approach to performance modelling. Results for an early version of the approach are presented using the shallow model as an example. In addition, the data-driven approach is compared with a novel analytical model based on fitting logarithmic curves to benchmarked application data. The limitations of this analytical method provide further motivation for the development of the data-driven approach and results of this work have been published elsewhere.

关键词： Computational modeling Analytical models Benchmark testing Bandwidth Meteorology computer architecture Mathematical model

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GPGPU accelerated real-time potential field based formation control for Unmanned Aerial Vehicles

GPGPU accelerated real-time potential field based formation ...

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international conference on Unmanned Aircraft systems (ICUAS)

作者： Omer Cetin Guray Yilmaz Turkish Air Force Academy Aeronautics and Space Technologies Institute Turkey Turkish Air Force Academy Computer Engineering Department Turkey

One of the research topics for the autonomous UAVs is formation flight control that provides two or more aircraft flies together under a discipline. For aerial vehicles the advantages of performing formation flight include fuel saving, improved efficiency in air traffic control and cooperative task allocation. Besides the benefits of the autonomous formation flight it has some difficulties like providing collision avoidance in narrow flight zone. Furthermore an autonomous formation flight must provide dynamic routines like getting formation position or changing formation schemes. Potential field based autonomous control is one of the commonly used control techniques providing dynamic and precise control. The bottleneck for the potential field based control is computation power needs especially for global path planning for dynamic, high resolution and large sized fields. GPGPU is one of the parallel computing architectures that provide programming massively parallel SIMD applications on GPUs. In this work GPGPU accelerated real-time potential field based formation control approach is designed and examined under simulation environment for UAVs. In order to reveal the precise and dynamic control features high-resolution potential field based global path planning models have been developed in real-time successfully.

关键词： Mathematical model Computational modeling Vectors Equations Real-time systems Aerodynamics Vehicle dynamics

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MGSim-A simulation environment for multi-core research and education

MGSim-A simulation environment for multi-core research and e...

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2013 13th international conference on embedded computer systems: architectures, modeling and simulation, IC-SAMOS 2013

作者： Poss, Raphael Lankamp, Mike Yang, Qiang Fu, Jian Uddin, Man Jesshope, Chris R. University of Amsterdam Computer Systems Architecture Group Science Park 904 1098XH Amsterdam Netherlands

ISBN: (纸本)9781479901036

This article presents MGSim1, an open source discrete event simulator for on-chip hardware components developed at the University of Amsterdam. MGSim is used as research and teaching vehicle to study the fine-grained hardware/software interactions on many-core chips with and without hardware multithreading. MGSim's component library includes support for core models with different instruction sets, a configurable interconnect, multiple configurable cache and memory models, a dedicated I/O subsystem, and comprehensive monitoring and interaction facilities. The default model configuration shipped with MGSim implements Microgrids, a multi-core architecture with hardware concurrency management. MGSim is furthermore written mostly in C++ and uses object classes to represent chip components. It is optimized for architecture models that can be described as process networks. © 2013 IEEE.

关键词： C++ (programming language)

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Neuromorphic processing: a new frontier in scaling computer architecture 14

Neuromorphic processing: a new frontier in scaling computer ...

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Proceedings of the 19th international conference on Architectural support for programming languages and operating systems

作者： Jeff Gehlhaar Qualcomm Technologies Inc. San Diego CA USA

ISBN: (纸本)9781450323055

The desire to build a computer that operates in the same manner as our brains is as old as the computer itself. Although computer engineering has made great strides in hardware performance as a result of Dennard scaling, and even great advances in 'brain like' computation, the field still struggles to move beyond sequential, analytical computing architectures. Neuromorphic systems are being developed to transcend the barriers imposed by silicon power consumption, develop new algorithms that help machines achieve cognitive behaviors, and both exploit and enable further research in neuroscience. In this talk I will discuss a system im-plementing spiking neural networks. These systems hold the promise of an architecture that is event based, broad and shallow, and thus more power efficient than conventional computing solu-tions. This new approach to computation based on modeling the brain and its simple but highly connected units presents a host of new challenges. Hardware faces tradeoffs such as density or lower power at the cost of high interconnection overhead. Consequently, software systems must face choices about new language design. Highly distributed hardware systems require complex place and route algorithms to distribute the execution of the neural network across a large number of highly interconnected processing units. Finally, the overall design, simulation and testing process has to be entirely reimagined. We discuss these issues in the context of the Zeroth processor and how this approach compares to other neuromorphic systems that are becoming available.

关键词： spiking neural network parallel computing low power zeroth neural network neuromorphic

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Simple Cloud Federation

Simple Cloud Federation

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Asia international conference on modeling & simulation

作者： Dinkar Sitaram H.L. Phalachandra Sudheendra Harwalkar Sirushti Murugesan Pavan Sudheendra Rohith Ananth B. Vidhisha Abdul Hannan Kanji Swati Chidambar Bhat B Kruti PES Institute of Technology Bangalore India PES University Bangalore Karnataka IN

Hybrid clouds help in establishing a cost effective, reliable and scalable solution to limitations in traditional on-premise data-center. There is an increasing requirement for federated hybrid cloud solutions to allow private clouds to leverage different public cloud providers. Federated cloud solutions should accommodate infrastructure constraints, balance load between different clouds and keep the cost at a minimal for the client. The following paper proposes an architecture for hybrid clouds called Simple Cloud Federation (SCF). It differs from existing architectures in that it leverages the hierarchical organization features already found in existing cloud systems. It is thus general and easy to implement across a variety of cloud systems, including OpenStack and Amazon. The paper contains details of our OpenStack implementation.

关键词： Cloud computing computer architecture Virtual machining Security Schedules Filtering algorithms Organizations

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A Toolchain for UML-based modeling and simulation of Networked embedded systems

A Toolchain for UML-based Modeling and Simulation of Network...

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UKSim-AMSS 15th international conference on computer Modelling and simulation (UKSim)

作者： Ebeid, Emad Fummi, Franco Quaglia, Davide Univ Verona Dep Comp Sci I-37100 Verona Italy

ISBN: (纸本)9780769549941;9781467364218

We present a toolchain to model and automatically generate executable simulation code for networked embedded systems applications. First, we provide a UML extension for modeling the network in distributed embedded systems. Second, we present a toolchain to automatically translate the UML model into an intermediate description and then to SystemC executable code. Finally, the developed simulation framework is based on the state-of-the-art network simulator named SCNSL which also provides a comprehensive library of well-tested simulation models for communication networks. The framework is explained on two different case studies related to wired/wireless network applications, one for home automation and the other for agriculture applications.

关键词： UML SystemC embedded systems Network modeling simulation

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