In this article, the problem of an online autonomous aerial inspection, specifically for discontinuous and distributed objects is presented. The proposed approach imposes view culling and photogrammetric constraints b...
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In this article, the problem of an online autonomous aerial inspection, specifically for discontinuous and distributed objects is presented. The proposed approach imposes view culling and photogrammetric constraints based on a geometrically modeled three-dimensional view pyramid, a view cone to filter surfaces by desired observation angle, a framework-integrated passive collision-avoidance scheme with the object under inspection, and a dynamically enveloping bounding-box region to map the visited surfaces. Furthermore, the proposed inspect-explore framework is validated for the case of an unknown environment with no prior knowledge of the object model under inspection. The overall inspection scheme is based on the novel First-Look approach, enabling the UAV to progressively adapt its inspection path to match the profile of the structure autonomously. The implemented exploration strategy imposes a tiered policy enabling the UAV to search, identify and navigate towards the structure for inspection. The presented work utilizes a unified architecture of the aforementioned inspect-explore framework to improve situational awareness in a previously unknown environment by enabling the UAV to explore its surrounding space and identify structures to execute closer inspection tasks. Extended simulations to evaluate the efficacy of the proposed inspect-explore framework are presented with multiple structure scenarios.
This paper presents a web system that allows to display and execute methods on objects created with the Web objects in XML (WOX) framework, where the user can provide values for each of the method parameters through a...
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ISBN:
(纸本)9798350361513;9798350372304
This paper presents a web system that allows to display and execute methods on objects created with the Web objects in XML (WOX) framework, where the user can provide values for each of the method parameters through a web interface. The paper also reviews some existing systems with similar functionality and shows some of their relevant features. The interface of the system is presented, along with some examples that demonstrate its functionality, in particular, the paper shows how a user can display and execute methods on WOX objects. It should be noted that WOX is a framework that allows the creation of object-based distributed applications, which are interoperable among different object-oriented programming languages. WOX uses XML as the format representation for objects, and it uses HTTP as its transport protocol.
FAIR Digital Object (FDO) is an emerging concept that is highlighted by European Open Science Cloud (EOSC) as a potential candidate for building an ecosystem of machine-actionable research outputs. In this work we sys...
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FAIR Digital Object (FDO) is an emerging concept that is highlighted by European Open Science Cloud (EOSC) as a potential candidate for building an ecosystem of machine-actionable research outputs. In this work we systematically evaluate FDO and its implementations as a global distributed object system, by using five different conceptual frameworks that cover interoperability, middleware, FAIR principles, EOSC requirements and FDO guidelines themself. We compare the FDO approach with established Linked Data practices and the existing Web architecture, and provide a brief history of the Semantic Web while discussing why these technologies may have been difficult to adopt for FDO purposes. We conclude with recommendations for both Linked Data and FDO communities to further their adaptation and alignment.
A key challenge of designing distributed software systems is maintaining data consistency. We can define data consistency and data isolation guarantees-e.g. serializability-in terms of schedules of atomic reads and wr...
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The expected dramatic growth of connected things raises the issue of how to efficiently organize them, in order to monitor and manage functions and interactions. Information centric networking (ICN) is a communication...
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The expected dramatic growth of connected things raises the issue of how to efficiently organize them, in order to monitor and manage functions and interactions. Information centric networking (ICN) is a communication paradigm that provides content-oriented functionality in the network and at the network level, including content routing, caching, multicast, mobility, data-centric security, and a flexible namespace. Thus, it is a viable solution for supporting Internet of Things (IoT) services without requiring any centralized entity. In this paper, we introduce the lightweight named object solution: a convenient way to represent physical IoT objects in a derived name space, exploiting ICN. We show that this abstraction can: 1) increase the programming simplicity;2) offer extended functionality, such as augmentation and upgrading, to cope with the "software erosion," and 3) implement a common interaction logic involving mutual function invocation. We present some proof-of-concept implementations of the proposed abstraction dealing with challenging IoT test cases;we also carry out a performance evaluation in a simulated network scenario.
Cloud computing is often the most referenced computational model for Internet of Things. This model adopts a centralized architecture where all sensor data is stored and processed in a sole location. De- spite of many...
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Cloud computing is often the most referenced computational model for Internet of Things. This model adopts a centralized architecture where all sensor data is stored and processed in a sole location. De- spite of many advantages, this architecture suffers from a low scal- ability while the available data on the network is continuously in- creasing. It is worth noting that, currently, more than 50% internet connections are between things. This can lead to the reliability prob- Iem in realtime and latency-sensitive applications. Edge-computing, which is based on a decentralized architecture, is known as a solu- tion for this emerging problem by: (1) reinforcing the equipment at the edge (things) of the network and (2) pushing the data processing to the edge. Edge-centric computing requires sensors nodes with more software capability and processing powerwhile, like any embedded systems, being constrained by energy consumption. Hybrid hardware sys- tems consisting of FPGA and processor offer a good trade-off for this requirement. FPGAS are known to enable parallel and fast compu- tation within a low energy budget. The coupled processor provides a flexible software environment for edge-centric nodes. Applications design for such hybrid network/software/hardware [SW/HW) system always remains a challenged task. It covers a large domain of system level design from high level software to low- Ievel hardware [FPGA). This results in a complex system design flow and involves the use of tools from different engineering domains. A common solution is to propose a heterogeneous design environ- ment which combining/integrating these tools together. However, the heterogeneous nature of this approach can pose the reliability problem when it comes to data exchanges between tools. Our motivation is to propose a homogeneous design methodology and environment for such system. We study the application of a modern design methodology, in particular object-oriented design [OOD], to the field o
This demo shows how two objects that each live within their own world, i.e., the are not in each others transitive closure of object references, can get to know each other in a well-defined manner using a new language...
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ISBN:
(纸本)9781450348379
This demo shows how two objects that each live within their own world, i.e., the are not in each others transitive closure of object references, can get to know each other in a well-defined manner using a new language construct. The basic problem is that if two object are in different worlds, there is no way they can communicate. Our proposed language construct, added to the Emerald programming language, allows objects in close proximity to get to know each other in a well-defined, language based manner.
The goal of this tool demo paper is to demonstrate the features of Atomic RMI 2, a system and tool for distributed programming in Java, extending the popular Java RMI system with support for distributed transactions. ...
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ISBN:
(纸本)9781450346399
The goal of this tool demo paper is to demonstrate the features of Atomic RMI 2, a system and tool for distributed programming in Java, extending the popular Java RMI system with support for distributed transactions. A distributed transaction can contain arbitrary code, including any operations on remote objects that must be executed atomically, consistently, and in isolation with respect to any other concurrent transactions. The Atomic RMI 2 package is released with an open source license.
Large information systems are typically distributed and cater to several client programs, with different needs. Traditional approaches to software development and deployment cannot handle situations where (i) the need...
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Large information systems are typically distributed and cater to several client programs, with different needs. Traditional approaches to software development and deployment cannot handle situations where (i) the needs of one client application evolve over time, diverging from the needs of others, and (ii) when the server application cannot be shutdown for maintenance. In this paper, we propose an experimental framework for the unanticipated dynamic evolution of distributed objects that enables us to: (i) extend the behavior of distributed objects during run-time, requiring no shutdown, and (ii) offer different functionalities to different applications simultaneously. In our approach, new client programs can invoke behavioral extensions to server objects that are visible only to them, while legacy applications may continue to use the non-extended versions of the server. Our approach has the advantage of: (i) requiring no changes to the host programming language or to the virtual machine, and (ii) providing a transparent programming model to the developer. In this paper, we describe the problem of unanticipated dynamic evolution of distributed objects, the principles underlying our approach, and our prototype implementations for Java and C#. We conclude by discussing related work, and the extent to which our approach can be used to support industrial strength unanticipated evolution. (c) 2008 Elsevier Inc. All rights reserved.
This paper describes a framework which enables distributed object sharing in a multi agent environment. Shared objects are replicated across nodes in the distributed environment so that agents access a local copy rath...
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ISBN:
(纸本)9781479932795
This paper describes a framework which enables distributed object sharing in a multi agent environment. Shared objects are replicated across nodes in the distributed environment so that agents access a local copy rather than a remote one, thus minimizing network traffic. The framework solves issues related to replica coherence, consistency and management. Shared objects are serializable Java objects supported with the multiple reader single writer (MRSW) access model. The framework includes components that act local servers for dynamic object ownership and a system coordinator for managing and monitoring the system, taking solution oriented responsibilities for unwanted/unexpected situations. An interface is provided to enable users to use simple object access methods in a completely transparent manner. Object access requests can be monitored through predefined graphical user interfaces. The system assigns unique identifiers for each access request, thus access calls can be carried out in parallel.
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