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Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN

Kinematic and dynamic adaptive control of a nonholonomic mob...

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2005 IEEE international symposium on Computational Intelligence in Robotics and Automation CIRA 2005

作者： Oubbati, Mohamed Schanz, Michael Levi, Paul IEEE Institute of Parallel and Distributed Systems University of Stuttgart Universitaetsstrasse 38 D-70569 Stuttgart Germany

In this paper, an adaptive neurocontrol system with two levels is proposed for the motion control of a nonholonomic mobile robot In the first level, a recurrent network improves the robustness of a kinematic controller and generates linear and angular velocities, necessary to track a reference trajectory. In the second level, another network converts the desired velocities, provided by the first level, into a torque control. The advantage of the control approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of robot's parameters variation. This capability is acquired through prior 'meta-learning'. Simulation results are demonstrated to validate the robustness of the proposed approach. © 2005 IEEE.

关键词： Mobile radio systems

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2nd international symposium on parallel and distributed Processing and Applications, ISPA 2004

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2nd international symposium on parallel and distributed Processing and Applications, ISPA 2004

ISBN: (纸本)9783540241287

The proceedings contain 119 papers. The special focus in this conference is on parallel and distributed Processing and Applications. The topics include: Present and future supercomputer architectures;challenges in P2P computing;multihop wireless Ad Hoc networking: current challenges and future opportunities;an inspector-executor algorithm for irregular assignment;multi-grain parallel processing of data-clustering on programmable graphics hardware;a parallel reed-solomon decoder on the imagine stream processor;asynchronous document dissemination in dynamic Ad Hoc networks;location-dependent query results retrieval in a multi-cell wireless;an efficient mobile data mining model;towards correct distributed simulation of high-level petri nets with fine-grained partitioning;m-guard: a new distributed deadlock detection algorithm based on mobile agent technology;meta-based distributed computing framework;locality optimizations for jacobi iteration on distributed parallel;fault-tolerant cycle embedding in the WK-recursive network;RAIDb: redundant array of inexpensive databases;a fault-tolerant multi-agent development framework;a fault tolerance protocol for uploads: design and evaluation;topological adaptability for the distributed token circulation paradigm in faulty environment;adaptive data dissemination in wireless sensor networks;design and analysis of a k-connected topology control algorithm for Ad Hoc networks;on using temporal consistency for parallel execution of real-time queries in wireless sensor systems;cluster-based parallel simulation for large scale molecular dynamics in microscale thermophysics;parallel checkpoint/recovery on cluster of IA-64 computers;an enhanced message exchange mechanism in cluster-based mobile;a scalable low discrepancy point generator for parallel computing;generalized trellis stereo matching with systolic array.

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Measuring scalability of resource management systems

Measuring scalability of resource management systems

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19th IEEE international parallel and distributed Processing symposium, IPDPS 2005

作者： Mitra, Arindam Maheswaran, Muthucumaru Ali, Shoukat Dept. of Computer Science University of Manitoba Winnipeg Man. R3T 2N2 Canada School of Computer Science McGill University Montreal Que. H3A 2A7 Canada Dept. of Elec. and Comp. Engg University of Missouri-Rolla Rolla MO 65409-0040 United States University of Manitoba Winnipeg Man. Canada School of Computer Science McGill University Montreal Canada Eta Kappa Nu Honorary Society Electrical and Computer Engineering Department University of Missouri-Rolla IEEE IEEE Computer Society ACM

ISBN: (纸本)0769523129

Scalability refers to the extent of configuration modifications over which a system continues to be economically deployable. Until now, scalability of resource management systems (RMSs) has been examined implicitly by studying different performance measures of the RMS designs for different parameters. However, a framework is yet to be developed for quantitatively evaluating scalability to unambiguously examine the trade-offs among the different RMS designs. In this paper, we present a methodology to study scalability of RMSs based on overhead cost estimation. first, we present a performance model for a managed distributed system (e.g., Grid computing system) that separates the manager and managee. Second, based on the performance model we present a metric used to quantify the sealability of a RMS. Third, simulations are used to apply the proposed scalability metric to selected RMSs from the literature. The results show that the proposed metric is useful in quantifying the scalabilities of the RMSs.

关键词： distributed computer systems

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A unifying theory of distributed processing (or, the Chutzpah one should expect when you invite a microarchitect into your sandbox)

A unifying theory of distributed processing (or, the Chutzpa...

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19th IEEE international parallel and distributed Processing symposium, IPDPS 2005

作者： Patt, Y.N. University of Texas Austin Department of Electrical and Computer Engineering Ernest Cockrell Department of Engineering University of Texas Austin IEEE ACM

ISBN: (纸本)0769523129

Since the organizers of this conference refused to accept my protestations that I didn't have anything meaningful to contribute, I acquiesced and accepted their invitation. When sobriety returned, I realized I had to (a) first understand what distributed processing is and what it is not, and (b) see if my newfound knowledge could produce anything useful. In this talk I propose to give you my understanding of distributed processing, how it differs fundamentally from non-distributed processing, and show that in this world of continually increasing complexity, it is the only paradigm that makes sense. Not surprisingly, the effective (and ineffective) uses of distributed processing are all around us. Several enlightening examples: an effective military, organized religion, the American game of football, and university education. I will discuss each. I submit that these examples have a unifying theory that could be relevant to microarchitecture. I describe it as a two-phased approach: preparation and execution. The microarchitect historically has designed central processing units. But to keep pace with current and future design points, including processing power that device technology continues to provide, distributed processing technology will become essential. Along the way, I will introduce and explain the relevance of my levels of transformation, multichip processors, the refrigerator, and data flow.

关键词： distributed computer systems

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Provable algorithms for parallel sweep scheduling on unstructured meshes

Provable algorithms for parallel sweep scheduling on unstruc...

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19th IEEE international parallel and distributed Processing symposium, IPDPS 2005

作者： Kumar, V. S. Anil Parthasarathy, Srinivasan Marathe, Madhav V. Srinivasan, Aravind Zust, Sibylle Los Alamos National Laboratory MS M997 Los Alamos NM 87545 Department of Computer Science University of Maryland College Park MD 20742 Virgnia Bio-informatics Institute Dept. of Computer Science Virginia Tech. Blacksburg VA Department of Computer Science UMIACS University of Maryland College Park MD 20742

ISBN: (纸本)0769523129

We present provably efficient parallel algorithms for sweep scheduling on unstructured meshes. Sweep scheduling is a commonly used technique in Radiation Transport problems, and involves inverting an operator by iteratively sweeping across a mesh. Each sweep involves solving the operator locally at each cell. However, each direction induces a partial order in which this computation can proceed. On a distributed computing system, the goal is to schedule the computation, so that the length of the schedule is minimized. Several heuristics have been proposed for this problem;see [14, 15] and the references therein;but none of the heuristics have worst case performance guarantees. Here we present a simple, almost linear time randomized algorithm which (provably) gives a schedule of length at most O(log2 n) times the optimal schedule for instances with n cells, when the communication cost is not considered, and a slight variant, which coupled with a much more careful analysis, gives a schedule of (expected) length O(log m log log log m) times the optimal schedule for m processors. These are the first such provable guarantees for this problem. We also design a priority based list schedule using these ideas, with the same theoretical guarantee, but much better performance in practice. We complement our theoretical results with extensive empirical analysis. The results show that (i) our algorithm performs very well and has significantly better performance guarantee in practice and (ii) the algorithm compares favorably with other natural and efficient parallel algorithms proposed in the literature [14, 15].

关键词： parallel processing systems

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Security-driven heuristics and a fast genetic algorithm for trusted grid job scheduling

Security-driven heuristics and a fast genetic algorithm for ...

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19th IEEE international parallel and distributed Processing symposium, IPDPS 2005

作者： Song, Shanshan Kwok, Yu-Kwong Hwang, Kai University of Southern California Los Angeles CA 90089 United States Department of Computer Science University of Southern California Department of Electrical and Electronic Engineering HKU HKU University of Southern California IEEE Computer Society IEEE Communications Society IEEE Internet and Grid Computing Laboratory University of Southern California ITR GridSec Project USC

ISBN: (纸本)0769523129

In this paper, our contributions are two-fold: first, we enhance the Min-Min and Sufferage heuristics under three risk modes driven by security concerns. Second, we propose a new Space-Time Genetic Algorithm (STGA) for trusted job scheduling, which is very fast and easy to implement. Under our new model, a job can possibly fail if the site security level is lower than the job security demand. We consider three security-driven heuristic modes: secure, risky, and f-risky. The secure mode always dispatches jobs to secure sites meeting the job security demands. The risky mode allocates jobs to any available resource site, taking whatever the risk it may face. The f-risky mode tries to limit the risk to be at most certain probability f. Our extensive simulation results indicated that the proposed STGA is highly effective in scheduling two types of practical workloads: NAS (Numerical Aerodynamic Simulation) and PSA (parameter-sweep application). The STGA outperforms the Min-Min and Sufferage heuristics under three risk modes, in terms of a wide range of performance metrics including makespan, average response time, site utilization, slowdown ratio, and job failure rate.

关键词： distributed computer systems

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Battery-efficient task execution on reconfigurable computing platforms with multiple processing units

Battery-efficient task execution on reconfigurable computing...

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19th IEEE international parallel and distributed Processing symposium, IPDPS 2005

作者： Khan, Jawad Vemuri, Ranga University of Cincinnati ECECS Department ML30 Cincinnati OH 45221-0030 United States

ISBN: (纸本)0769523129

This paper presents a battery-efficient task execution methodology on Reconfigurable Computing (RC) Platforms which have multiple processing units. These processing units can be on-chip in the form of soft-processors, embedded processors or "Reconfigurable Tiles" where the reconfigurable area of an Field Programmable Gate Array (FPGA) is divided into fixed re configurable slots. Processing units can also be off-chip in the form of individual FPGAs and voltage-scalable processors. An application is modeled in the form of a precedence task graph. We assume that for each task in the task graph several different design-points are available which correspond to different voltage-frequency combinations for processors and different hardware implementations for FPGAs and "Reconfigurable Tiles". It is assumed that performance and total power consumption estimates for each design-point are available for any given implementation, including the peripheral components such as memory and display power usage. first we present an iterative heuristic algorithm for a single processing unit, which finds a sequence of tasks along with an appropriate design-point for each task, such that a deadline is met and the amount of battery energy used is as small as possible. Next, we extend this algorithm to multiple processing units in an RC platform. We used several real-world benchmarks to test the effectiveness of this methodology. Each benchmark was executed on one, two, three and four processing units and its power utilization was characterized by implementing it on a portable RC Platform called iPACE-Vl[4], We present the results which show that choosing an appropriate execution mode is crucial for battery-efficient execution. We also show that parallel execution on multiple-processing units can actually be more battery-efficient than sequential execution on a single processing unit under certain circumstances.

关键词： parallel processing systems

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Techniques for tuning workflows in cluster environments 05

Techniques for tuning workflows in cluster environments

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international symposium on High Performance distributed Computing

作者： B.L. Tierney D.K. Gunter Distributed Syst. Dept. Lawrence Berkeley Nat. Lab. USA Distributed Systems Department Lawrence Berkeley National Laboratory USA

ISBN: (纸本)9780780390379

An important class of parallel processing jobs on clusters today are workflow-based applications that process large amounts of data in parallel. Traditional cluster performance tools are designed for tightly coupled parallel jobs, and not as effective for this type of application. We describe how the NetLogger Toolkit methodology is more appropriate for this class of cluster computing, and describe our new automatic workflow anomaly detection component. We also describe how this methodology is being used by the Nearby Supernova Factory (SNfactory) project at Lawrence Berkeley National Laboratory.

关键词： Performance analysis Laboratories Pipelines parallel processing Production facilities databases Event detection Data visualization Job design Context

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Optimized distributed computing environment for mask data preparation

Optimized distributed computing environment for mask data pr...

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25th Annual BACUS symposium on Photomask Technology

作者： Ahn, Byoung-Sup Bang, Ju-Mi Ji, Min-Kyu Kang, Sun Jang, Sung-Hoon Choi, Yo-Han Ki, Won-Tai Choi, Seong-Woon Han, Woo-Sung Photomask Team Semiconductor R and D Center Samsung Electronics San #24 Yongin-City Gyunggi-Do 449-711 Korea Republic of

As the critical dimension (CD) becomes smaller, various resolution enhancement techniques (RET) are widely adopted. In developing sub-100nm devices, the complexity of optical proximity correction (OPC) is severely increased and applied OPC layers are expanded to non-critical layers. The transformation of designed pattern data by OPC operation causes complexity, which cause runtime overheads to following steps such as mask data preparation (MDP), and collapse of existing design hierarchy. Therefore, many mask shops exploit the distributed computing method in order to reduce the runtime of mask data preparation rather than exploit the design hierarchy. distributed computing uses a cluster of computers that are connected to local network system. However, there are two things to limit the benefit of the distributing computing method in MDP. first, every sequential MDP job, which uses maximum number of available CPUs, is not efficient compared to parallel MDP job execution due to the input data characteristics. Second, the runtime enhancement over input cost is not sufficient enough since the scalability of fracturing tools is limited. In this paper, we will discuss optimum load balancing environment that is useful in increasing the uptime of distributed computing system by assigning appropriate number of CPUs for each input design data. We will also describe the distributed processing (DP) parameter optimization to obtain maximum throughput in MDP job processing.

关键词： distributed computer systems

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distributed scheduling of parallel I/O in the presence of data replication

Distributed scheduling of parallel I/O in the presence of da...

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international symposium on parallel and distributed Processing (IPDPS)

作者： Jan-Jan Wu Pangfeng Liu Institute of Information Science Academia Sinica Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)0769523129

This paper studies distributed scheduling of parallel I/O data transfers on systems that provide data replication. In our previous work, we proposed a centralized algorithm for solving this problem in systems where data transfer information is centrally available. This algorithm finds the optimal scheduling by constructing augmenting paths in the data transfer bipartite graph, requiring O(nm log n + n/sup 2/ log/sup 3/2/ n) time, with n nodes and m edges in the bipartite graph. In this paper, we investigate this scheduling problem in distributed systems where data transfer information may not be centrally available. We propose a distributed scheduling algorithm, highest degree lowest workload first (HDLWF), which approximates the augmenting path algorithm in distributed environments. HDLWF is based on a distributed, two-step scheme that determines appropriate execution order of data requests through a small number of rounds of bidding between clients and I/O servers. Our experimental results indicate that HDLWF yields schedules close to the centralized optimal solution, and in some cases within 3% of the optimal solution.

关键词： Optimal scheduling Processor scheduling Scheduling algorithm Bipartite graph Concurrent computing Multimedia databases Information science Computer science Data engineering Read-write memory

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