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An Architecture-Independent CGRA Compiler enabling OpenMP Applications 36

An Architecture-Independent CGRA Compiler enabling OpenMP Ap...

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36th IEEE international Parallel and Distributed Processing symposium (IEEE IPDPS)

作者： Kojima, Takuya Adhi, Boma Cortes, Carlos Tan, Yiyu Sano, Kentaro Univ Tokyo Grad Sch Informat Sci & Technol Tokyo Japan RIKEN Ctr Computat Sci R CCS Kobe Hyogo Japan

ISBN: (纸本)9781665497473

Coarse-Grained reconfigurable architecture (CGRA) is a promising platform for HPC systems in the post-Moore's era. A single-source programming model is essential for practical heterogeneous computing. However, we do not have a canonical programming model and a frontend compiler for it. Existing versatile CGRAs, in respect to their execution model, computational capability, and system structure, magnify the difficulty of orchestrating the compiler techniques. It consequently forces designers of the CGRAs to develop the compiler from scratch, working only for their architectures. Such an approach is outdated, given other successful accelerators like GPU and FPGAs. This paper presents a new CGRA compiler framework in order to reduce development efforts of CGRA applications. OpenMP annotated codes are fed into the proposed compiler, as recent OpenMP support device offloading to the accelerators. This property improves the reusability of the existing source code for HPC workloads. The design of the compiler is inspired by LLVM, which is the most famous compiler framework so that the frontend is built to be architecture-independent. In this work, we demonstrate that the proposed compiler can handle different types of CGRAs without changing the source codes. In addition, we discuss the effect of architecture-independent optimization algorithms. We also provide an open-source implementation of the compiler framework at https://***/hal-lab-u-tokyo/CGRAOmp.

关键词： Codes Runtime Computational modeling Graphics processing units programming Heterogeneous networks Reconfigurable architectures

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Reactive programming with Swift Combine: An Analysis of Problems Faced by Developers on Stack Overflow 23

Reactive Programming with Swift Combine: An Analysis of Prob...

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37th Brazilian symposium on Software Engineering, SBES 2023, held in conjunction with the Brazilian Conference on Software: Theory and Practice, CBSoft 2023

作者： Pereira, Alessandra Gama, Kiev Zimmerle, Carlos Castor, Fernando Recife Brazil University of Twente Enschede Netherlands

ISBN: (纸本)9798400707872

Reactive programming is a programming paradigm that enables systems to automatically react to changes in data or events in a responsive and asynchronous manner, leveraging the concept of streams. The adoption of reactive programming techniques has grown significantly, particularly in developing mobile applications that demand efficient frameworks for creating adaptable and scalable systems. An example of such a framework is Combine, introduced by Apple in 2019 for Swift application development on the iOS platform. A framework that is worth mentioning is Combine, which was introduced by Apple in 2019 for Swift application development on the iOS platform. However, transitioning from imperative to reactive paradigms presents complex challenges for developers. This study aims to address the research gap that exists in Swift Combine by identifying and understanding the key challenges faced by developers when adopting and using that framework. Using a data mining approach, we analyzed questions and accepted answers from Stack Overflow related to Combine usage. Employing topic modeling with Latent Dirichlet Allocation, our analysis revealed 14 topics related to Combine usage, highlighting the most relevant and challenging aspects. These findings provide valuable insights for developers learning or incorporating Combine into their applications and serve as a reference for future studies in the field. © 2023 ACM.

关键词： Data mining

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Peak Period Inventory Planning for Apparel Industry

Peak Period Inventory Planning for Apparel Industry

引用

international symposium for Production Research, ISPR 2023

作者： Gökçe, Mahmut Ali King, Russell Department of Industrial Engineering Yasar University Izmir Turkey Edward P. Fitts Department of Industrial and Systems Engineering NC State University RaleighNC United States

ISBN: (纸本)9783031539909

The purpose of this study is the development of a mathematical/computer model for inventory planning for items with very sharp peaks in demand. The demand at peak periods for these items constitutes the most of the annual demand. The correct amount of inventory must be built before the peak due to maximum order quantity, lead-time, and maximum inventory level constraints. This target inventory is dependent on inventory carrying charges, stockout costs and sales revenues. We suggest an alternative way of determining the shortage cost. The problem is modeled as a dynamic programming problem utilizing the value iteration method of Howard. We assume that the seasonality and the expected demands are known. The proposed model can be used to find the optimal ordering amounts to maximize the expected profit from the season depending on the number of weeks left until the end of season and the initial inventory on-hand. Multiple regression models are developed to predict the season performance based upon critical input factors. Results show that lead-time is the most important factor in determining the season performance. Also some characteristics of optimal ordering patterns are presented. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Dynamic programming

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A Multimodal Learning-from-Observation Towards All-at-once Robot Teaching using Task Cohesion

A Multimodal Learning-from-Observation Towards All-at-once R...

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IEEE/SICE international symposium on System Integration (SII)

作者： Yanaokura, Iori Wake, Naoki Sasabuchi, Kazuhiro Arakawa, Riku Okada, Kei Takamatsu, Jun Inaba, Masayuki Ikeuchi, Katsushi Univ Tokyo Dept MechanoInformat Tokyo Japan Carnegie Mellon Univ Pittsburgh PA 15213 USA Microsoft Appl Robot Res Redmond WA 98052 USA

ISBN: (纸本)9781665445405

Multimodal Learning-from-Observation (LfO) is a promising robot teaching solution that enables teaching sequential operations by extracting what-to-do from language and how-to-do from demonstrations. While previous studies have focused on step-by-step instructions, all-at-once teaching allows users to teach the behavior more naturally. However, all-at-once teaching needs to bridge the gap between verbal instruction and robot execution in order to understand which instruction corresponds to which demonstration section. To this end, we introduce the notion of task cohesion, which connects verbal instructions to robot execution based on the concept of physical/semantic state transition. We solve the problem of grounding and over/under-segmentation of language and demonstration by considering the cost of recursive dynamic programming, which divides the demonstration and grounds it to the language. The what-to-do can be obtained from the language, and the how-to-do can be obtained by extracting the parameters necessary for the execution of the robot based on the information of the task cohesion from the demonstration segments where the language is grounded. The contributions of this study are as follows: (1) to introduce task cohesion, (2) to propose a recursive dynamic programming approach to align verbal instructions and human demonstration, and (3) to demonstrate the effectiveness of multi-modal all-at-once teaching by integrating them.

关键词： Costs Grounding Education System integration Robot sensing systems Dynamic programming Data mining

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rA*: Re-Planned A∗ Technique for Point-to-Point Robot Navigation in Dynamic Environments 10

rA*: Re-Planned A∗ Technique for Point-to-Point Robot Navig...

引用

10th IEEE international symposium on Smart Electronic systems, iSES 2024

作者： Ganguly, Tanudeep Chaudhuri, Rapti Deb, Suman NIT Agartala CSE Dept. India

ISBN: (纸本)9798331533229

Autonomous point-to-point robots employ path-finding algorithms to traverse from the start to the goal point by avoiding obstacles. One such prominent and efficient algorithm is A*. It uses the best first technique to traverse a particular environment and extract the shortest path by avoiding on-path obstacles. It is widely accepted for its optimality in finding the shortest path from one node to another. In the case of real-world scenarios, robot navigation involves dynamic obstacles with varying costs and multiple objectives. This paper proposes the rA∗ (replanned A*) technique, which implements important modifications to the A∗ algorithm to address the challenges created in dynamic environments by introducing dynamic cost adjustment with sensor data to reduce path distance in replanning in case of obstacles or complex terrain features differences in an environment. We also enhance the heuristic approach with environmental awareness by equipping Euclidean distance for faster navigation. Real-time and multi-objective path planning have been conceptualized to dynamically adjust path in case of moving obstacles. Real-time analysis of the algorithm is conducted on a Turtlebot by taking the sensor-fused input data in coordinate and depth format. The sensor data is obtained through ROS (Robot Operating System) visualizer and the map of the path exploration by detecting the dynamic obstacles is generated through G-mapping. The maps are fed as input to the rA∗ algorithm to re-plan the path, distorted by the sudden appearance of dynamic obstacles. rA∗ reduces the overall and near-obstacles turning angle of the robot by 80.4% - 82.2%, as compared to the traditional A∗ technique. The results prove rA∗ to be superseded in terms of accurate path tracking and control by precise obstacle avoidance and achieving intelligent navigation. © 2024 IEEE.

关键词： Robot programming

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Enabling Modern Application Development with Swift on the Nao/Pepper Robots 24th

Enabling Modern Application Development with Swift on the Na...

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24th international symposium on Robot World Cup (RoboCup)

作者： McColl, Callum Estivill-Castro, Vladimir Gilmore, Eugene McColl, Morgan Hexel, Rene Griffith Univ MiPal Brisbane Qld Australia Univ Pompeu Fabra MiPal Barcelona Spain

ISBN: (纸本)9783030986827;9783030986810

We show the advantages of using Swift as the programming language for behaviours on the Pepper and Nao robots as used with the RoboCup Standard Platform League and the RoboCup@Home - Social Standard Platform. We show that Swift is not only incorporating modern features of object-oriented programming and functional programming, but is also now a stable systems programming language that enables both high-level development as well as fine hardware control. Deterministic memory management makes Swift suitable for real-time, embedded systems, and thus for robotic applications. Moreover, we show in this paper we can apply model-driven software-development by deploying behaviours coded as executable arrangements of logic-labelled finite-state machines (LLFSMs). We also show LLFSMs are not only suitable for reactive architectures, but also for deliberative architectures.

关键词： Functional programming languages Logical programming languages Model-driven software development Deliberative architectures

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Implementation of Socket programming Simulation Using Quantum Communication Technologies 6

Implementation of Socket Programming Simulation Using Quantu...

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6th international symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2022

作者： Ozceylan, Elif Yasar, Cumali Assanova, Baktygul Computer Engineering Istanbul Arel University Istanbul Turkey Information Technology Kh Dosmukhamedov Atyrau University Atyrau Kazakhstan

ISBN: (数字)9781665470131

ISBN: (纸本)9781665470131

Using socket programming, which plays a major role in the communication between devices and people, data is transmitted instantly over predetermined ports. By the evolution of technology, the size of the data is increasing due to the increase in the quality of the data. As a result, there are losses and delays in data transfers. According to the research, it is assumed that applications and systems to be developed using quantum technologies will be useful in solving these problems. In this study, firstly information was given about the mechanism in classical socket programming and the problems encountered in this mechanism. Then, by giving information about quantum communication and the methods used in this communication, the quantum solutions to these problems were examined, the application was coded in the quantum programming language and the communication between two ports with quantum socket programming was simulated. The results obtained from this simulation was compared with the classically obtained results. Communication simulation between sockets was performed using teleportation and super-dense coding in quantum computers. © 2022 IEEE.

关键词： Quantum communication

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Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments

Marsupial Walking-and-Flying Robotic Deployment for Collabor...

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25th IEEE international symposium on Safety, Security, and Rescue Robotics (IEEE SSRR)

作者： De Petris, Paolo Khattak, Shehryar Dharmadhikari, Mihir Waibel, Gabriel Huan Nguyen Montenegro, Markus Khedekar, Nikhil Alexis, Kostas Hutter, Marco NTNU OS Bragstads Plass 2D N-7034 Trondheim Norway Swiss Fed Inst Technol Leonhardstr 21 CH-8092 Zurich Switzerland

ISBN: (纸本)9781665456807

This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability to selectively deploy the aerial system from the ground robot. Exploiting the dexterous locomotion capabilities and long endurance of quadruped robots, the marsupial combination can explore within large-scale and confined environments involving rough terrain. However, as certain types of terrain or vertical geometries can render any ground system unable to continue its exploration, the marsupial system can -when needed- deploy the flying robot which, by exploiting its 3D navigation capabilities, can undertake a focused exploration task within its endurance limitations. Focusing on autonomy, the two systems can colocalize and map together by sharing LiDAR-based maps and plan exploration paths individually, while a tailored graph search onboard the legged robot allows it to identify where and when the ferried aerial platform should be deployed. The system is verified within multiple experimental studies demonstrating the expanded exploration capabilities of the marsupial system-of-systems and facilitating the exploration of otherwise individually unreachable areas.

关键词： Robot programming

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Node Fault Prediction Assisted Small-World IoT Networks Using ML Frameworks: Towards Performance Improvement 18

Node Fault Prediction Assisted Small-World IoT Networks Usin...

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18th IEEE international Conference on Advanced Networks and Telecommunications systems, ANTS 2024

作者： Sharma, Neha Gupta, Aryaman Deepak, Sivala Pandey, Om Jee Indian Institute of Technology BHU Department of Electronics Engineering Varanasi India

ISBN: (纸本)9798350391725

The rapid growth of the Internet of Things (IoT) networks has led to the deployment of large-scale networks, enabling seamless connectivity and data exchange among various devices. To manage the complexity and ensure efficient communication in these expansive networks, adopting suitable network architecture becomes crucial. Small-world networks, characterized by a high Average Clustering Coefficient (ACC) and low Average Path Length (APL), have emerged as a promising architecture for IoT systems due to their efficient communication. However, introducing the Small-World Characteristics (SWC) in an IoT network is challenging due to the need for strategic placement of long-range connections while maintaining low APL and high ACC and ensuring scalability and robustness. In this work, we introduce SWC into the network using an actor-critic reinforcement learning algorithm. Additionally, ensuring the reliability of sensor nodes is crucial to maintaining the overall network performance. Therefore, we propose a joint method for dynamic node fault prediction and data routing within small-world IoT networks using advanced Machine Learning (ML) frameworks. Several data routing experiments have been conducted to validate the effectiveness of the proposed approach using simulated small-world IoT networks. We analyzed major network parameters such as lifetime, latency, and throughput. We compared the proposed method with existing state-of-the-art approaches and observed promising results. © 2024 IEEE.

关键词： APL (programming language)

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WSSE 2023 - 2023 5th World symposium on Software Engineering

WSSE 2023 - 2023 5th World Symposium on Software Engineering

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5th World symposium on Software Engineering, WSSE 2023

ISBN: (纸本)9798400708053

The proceedings contain 52 papers. The topics discussed include: methods for application development by non-programmers: a systematic literature review: methods of application development that could be adapted to enable non-programmers to create their own applications;LinkDoc: an automated process in the delivery of documentation in a global software development environment;ROTI-MARK: real-world-impact-driven optimization target identification – metrics assessment and reporting kit;a comparative study of hybrid fault-prone module prediction models using association rule and random forest;using deep learning and object-oriented metrics to identify critical components in object-oriented systems;LLMs in design thinking: autoethnographic insights and design implications;developing distributed systems with multiparty functional reactive programming;and using conversational AI to service organizational agility and flexibility: the dynamic capability and option view.

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