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The use of a Reasoning process to solve the almost SLAM Challenge at the Robocup legged league

The use of a Reasoning process to solve the almost SLAM Chal...

引用

8th Catalan Conference on Artificial Intelligence, CCIA 2005

作者： Monferrer, M. Teresa Escrig Broch, Juan Carlos Peris Jaume I University Engineering and Computer Science Department Campus Riu Sec CastellónE-12071 Spain Jaume I University Programming Languages and Computer Systems Department Campus Riu Sec CastellónE-12071 Spain

ISBN: (纸本)1586035606

The problem that a robot navigates autonomously through its environment, builds its own map and localizes itself in the map (known a the SLAM problem), is still an open problem. Most of the approaches to solve the SLAM problem divide the space into regions and compute the probability that the robot is in each region. We propose in this paper a different solution based on the use of a reasoning process to build the map, which will provide the following advantages: (1) we will store in the map hybrid (qualitative + quantitative) information from landmarks. Qualitative representation will allow us the management of the uncertainty information provided by the robot sensors;and (2) we will store in the map relative information of the landmarks which appear in the environment, therefore the map will be independent of the point of view of the robot. Moreover, we are going to use a reasoning process which will allow us to solve three very important problems in robotics: (a) where the robot is;(b) which is the orientation of the map where the robot is;and (c) towards where the robot should go according to the map to follow a plan. © 2005 The authors. All rights reserved.

关键词： Robots

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Panel: Using peer review in teaching computing

Panel: Using peer review in teaching computing

引用

Proceedings of the Thirty-Sixth SIGCSE Technical Symposium on computer Science Education, SIGCSE 2005

作者： Gehringer, Edward F. Chinn, Donald D. Ardis, Mark A. Pérez-Quinones, Manuel A. North Carolina State University Depts. of Computer Science and ECE Raleigh NC 27695-7256 Univ. of Washington at Tacoma Dept. of Computing and Software Systems Tacoma WA 98402 Rose-Hulman Institute of Technology Dept. of Computer Science and Software Engineering Terre Haute IN 47803 Department of Computer Science Virginia Tech Blacksburg VA 24061

ISBN: (纸本)1581139977

For generations, the academic community has relied on peer review as a way of encouraging scholarship and enhancing the knowledge base. Peer review has been widely used in the classroom since at least the 1970s, with hundreds of papers on its use in diverse academic fields appearing in the literature (for a comprehensive survey, see [1]). Its use appears to be on the upswing, given the current interest in active learning and teamwork. In computer science, peer review seems to have very broad application. It can be used to evaluate the contributions of various members to a project team;it can be used for design documents and code reviews, in writing assignments, and in capstone project courses. The experience of the panelists is illustrative of the wide range of peer-review practices. This panel will serve to introduce the audience to some of these applications. Since many computer-science instructors have experimented with peer review, we are anxious to have them share their experiences during the open discussion period.

关键词： computer science

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Comet: a scalable coordination space for decentralized distributed environments

Comet: a scalable coordination space for decentralized distr...

引用

International Workshop on Hot Topics in Peer-to-Peer systems

作者： Zhen Li M. Parashar Applied Software Systems Laboratory Department of Electrical and Computer Engineering Rutgers University NJ USA

The scale, heterogeneity, and dynamism of emerging distributed and decentralized environments make coordination a significant and challenging problem. In this paper we present Comet, a scalable peer-to-peer content-based coordination space. Comet provides a global virtual shared-space that can be associatively accessed by all peer nodes in the system, and access is independent of the physical location of the tuples or identifiers of the host. Dynamically constructed, transient coordination spaces are also supported to enable context locality to be explicitly exploited for improving system performance. The design, implementation, and experimental evaluation of Comet using the PlanetLab platform are presented.

关键词： Peer to peer computing Distributed computing Context software systems System performance Disaster management Runtime Management information systems Grid computing Pervasive computing

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Tracing distributed systems executions using AspectJ

Tracing distributed systems executions using AspectJ

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21st IEEE International Conference on software Maintenance, ICSM 2005

作者： Lionel, C. Briand Labiche, Yvan Leduc, Johanne Software Quality Engineering Laboratory Systems and Computer Engineering Department Carleton University Ottawa Ont. K1S5B6 Canada Siemens Corporate Research Inc. 755 College Road East Princeton NJ 08540

ISBN: (纸本)0769523684

This article addresses the generation of traces to monitor the execution of distributed Java systems, and investigates the use of Aspect-Oriented Programming (AOP) as the instrumentation strategy to get the necessary information at runtime. The overall objective is to gather enough information to help people understand program executions by abstracting out design details related to thread and distributed communications, for instance under the form of UML sequence diagrams. We show how AspectJ, the main Java implementation of AOP, can be used to solve such issues, assuming RMI is the distribution middleware and thread communications employ specific data structures. The most important aspects are discussed and experiments on a case study are reported. © 2005 IEEE.

关键词： Distributed computer systems

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Heuristic strategy for a delay bound location tracking in PCS networks

Heuristic strategy for a delay bound location tracking in PC...

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International Conference on Intelligent Sensing and Information Processing (ICISIP)

作者： H. Chen N. Mani B. Srinivasan Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia Department of computer Science and Software Engineering Monash University Clayton VIC Australia

Location tracking in a personal communications services (PCS) network requires location update and paging. These procedures incur a large signaling cost as the demand for these services increases. In a location update process, the mobile terminal (MT) registers with the system when it enters into a new location area (LA) that contains many cells. In a paging process, the network system initiates a search process to find the mobile terminal to deliver an incoming call. A heuristic location tracking strategy is proposed based on location probability models that aims to reduce the signaling cost involved in paging process under delay bounds. Numerical results demonstrate that this paging strategy performs better than other methods [W. Wang et al., (2001)] for both uniform and non-uniform location probability distributions.

关键词： Intelligent networks Personal communication networks Costs Delay Paging strategies Australia computer networks systems engineering and theory Signal processing Transfer functions

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Prototype of fault adaptive embedded software for large-scale real-time systems

Prototype of fault adaptive embedded software for large-scal...

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Proceedings - 12th IEEE International Conference and Workshops on the engineering of computer-Based systems, ECS 2005

作者： Messie, Derek Jung, Mina Oh, Jae C. Shetty, Shweta Nordstrom, Steven Haney, Michael Department of Electrical Engineering and Computer Science Syracuse University Syracuse NY 13244 Institute for Software Integrated Systems Vanderbilt University Nashville TN 37235 High Energy Physics University of Illinois at Urbana-Champaign Urbana IL 61801

ISBN: (纸本)0769523080

This paper describes a comprehensive prototype of large-scale fault adaptive embedded software developed for the proposed Fermilab BTeV high energy physics experiment. Lightweight self-optimizing agents embedded within Level 1 of the prototype are responsible for proactive and reactive monitoring and mitigation based on specified layers of competence. The agents are self-protecting, detecting cascading failures using a distributed approach. Adaptive, reconfigurable, and mobile objects for reliablility are designed to be self-configuring to adapt automatically to dynamically changing environments. These objects provide a self-healing layer with the ability to discover, diagnose, and react to discontinuities in real-time processing. A generic modeling environment was developed to facilitate design and implementation of hardware resource specifications, application data flow, and failure mitigation strategies. Level 1 of the planned BTeV trigger system alone will consist of 2500 DSPs, so the number of components and intractable fault scenarios involved make it impossible to design an 'expert system' that applies traditional centralized mitigative strategies based on rules capturing every possible system state. Instead, a distributed reactive approach is implemented using the tools and methodologies developed by the Real-Time Embedded systems group © 2005 IEEE.

关键词： Large scale systems

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Dynamic software reconfiguration in sensor networks

Dynamic software reconfiguration in sensor networks

引用

Proceedings of the systems Communications, SENET

作者： S. Kogekar S. Neema X. Koutsoukos Institute for Software Integrated Systems (ISIS) Department of Electrical Engineering and Computer Science Vanderbilt University USA

Reconfiguration and self-adaptation are vital capabilities of sensor networks and networked embedded systems that are required to operate in dynamic environments. This paper presents an approach for software reconfiguration based on exploration of the design space of the application. The design space is represented by formally modeling all the software components, their alternative implementations and their interactions. Reconfiguration is triggered by monitoring the system and is performed by transitioning to a new configuration that satisfies the system constraints. The approach is demonstrated using experimental results for a representative tracking application.

关键词： Intelligent networks Application software Runtime computer architecture Sensor systems software systems Wireless sensor networks Sensor phenomena and characterization Intersymbol interference engineering profession

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A Framework for Rule-Based Management of Parallel Scientific Applications

A Framework for Rule-Based Management of Parallel Scientific...

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International Conference on Autonomic Computing (ICAC)

作者： Hua Liu M. Parashar The Applied Software Systems Laboratory Department of Electrical and Computer Engineering Rutgers University Piscataway NJ USA

In this paper we present the design of the rule-based framework for the runtime management of high-performance parallel scientific applications. The framework addresses the formulation of application management behaviors as reaction rules, the injection of rules at runtime, their correct, efficient and scalable parallel enforcement, and the detection and resolution of rule conflicts. Unlike rule-based frameworks in business management and security and resource management domains, the presented framework focuses on high-performance parallel scientific applications, which require consistent and efficient management across processors and components. The framework is part of the Accord programming system (Liu et al., 2004)

关键词： Actuators Resource management Application software software systems Laboratories Large-scale systems Computational modeling Runtime environment Environmental management Security

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Facilitating the construction of specification pattern-based properties

Facilitating the construction of specification pattern-based...

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IEEE International Conference on Requirements engineering

作者： S. Konrad B.H.C. Cheng Software Engineering and Network Systems Laboratory Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Formal specification languages are often perceived as difficult to use by practitioners, and are therefore rarely-used in industrial software development practices. Numerous researchers have developed specification pattern systems to facilitate the construction of formal specifications of system properties. Feedback indicates that these patterns are considered helpful, but many practitioners prefer capturing properties using informal notations, such as natural language, instead of formal specification languages. This paper describes a project that addresses this technology gap. First, we introduce a stepwise process for deriving and instantiating system properties in terms of their natural language representations. The key components of this process are structured natural language grammars and specification pattern systems. Second, we describe SPIDER, a prototype implementation of a tool suite supporting this specification process. We illustrate the use of our approach with a description of a stepwise construction process of property specifications of a real-world automotive embedded system using Spider.

关键词： Natural languages Formal specifications Logic Construction industry Feedback Automotive engineering Industrial training Pattern analysis software engineering Laboratories

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MNP: Multihop Network Reprogramming Service for Sensor Networks

MNP: Multihop Network Reprogramming Service for Sensor Netwo...

引用

International Conference on Distributed Computing systems

作者： S.S. Kulkarni Limin Wang Software Engineering and Network Systems Laboratory Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Reprogramming of sensor networks is an important and challenging problem as it is often necessary to reprogram the sensors in place. In this paper, we propose a multihop reprogramming service designed for Mica-2/XSM motes. One of the problems in reprogramming is the issue of message collision. To reduce the problem of collision and hidden terminal problem, we propose a sender selection algorithm that attempts to guarantee that in a neighborhood there is at most one source transmitting the program at a time. Further, our sender selection is greedy in that it tries to select the sender that is expected to have the most impact. We also use pipelining to enable fast data propagation. MNP is energy efficient because it reduces the active radio time of a sensor node by putting the node into "sleep" state when its neighbors are transmitting a segment that is not of interest. Finally, we argue that it is possible to tune our service according to the remaining battery level of a sensor, i.e., it can be tuned so that the probability that a sensor is given the responsibility of transmitting the code is proportional to its remaining battery life

关键词： Spread spectrum communication Wireless sensor networks Bandwidth Sensor systems Energy efficiency Batteries software engineering Laboratories computer science Pipeline processing

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