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Field Robotics 2025年 3卷 323-367页

作者： Jongseok Lee Ribin Balachandran Konstantin Kondak Andre Coelho Marco De Stefano Matthias Humt Jianxiang Feng Tamim Asfour Rudolph Triebel Institute of Robotics and Mechatronics German Aerospace Center (DLR) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Robotics and Mechatronics Laboratory University of Twente (UT) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Chair of Computer Vision and Artificial Intelligence Technical University of Munich (TUM)

This paper presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot's workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors, namely, a LiDAR, cameras, and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active learning pipeline in order to increase the sample efficiency of a pipeline component that relies on a Deep Neural Network (DNN) based object detector. All these algorithms jointly address various challenges encountered during the execution of perception tasks in industrial scenarios. In the experiments, exhaustive ablation studies are provided to validate the proposed pipelines. Methodologically, these results commonly suggest how an awareness of the algorithms' own failures and uncertainty (“introspection”) can be used to tackle the encountered problems. Moreover, outdoor experiments are conducted to evaluate the effectiveness of the overall system in enhancing aerial manipulation capabilities. In particular, with flight campaigns over days and nights, from spring to winter, and with different users and locations, we demonstrate over 70 robust executions of pick-and-place, force application and peg-in-hole tasks with the DLR cable-Suspended Aerial Manipulator (SAM). As a result, we show the viability of the proposed system in future industrial applications. 1

关键词： Robots Service robots Sensors Pipelines Active learning Pose estimation Haptic interfaces Telepresence Visualization Virtual reality

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Extending a light-weight runtime system by dynamic instrumentation for performance evaluation 23

Extending a light-weight runtime system by dynamic instrumen...

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23th International Conference on architecture of Computing Systems 2010, ARCS 2010

作者： Kicherer, Mario Nowak, Fabian Buchty, Rainer Karl, Wolfgang Karlsruhe Institute of Technology Chair for Computer Architecture Karlsruhe76128 Germany

ISBN: (纸本)9783800732227

Increasing complexity of current and future systems poses a new challenge for software engineers. In a previous work we presented a light-weight runtime system for abstraction of heterogeneous parallel systems. This runtime system adapts an application to the current system state in order to improve the utilization of the available resources. For online evaluation of such adaptions, we propose a versatile instrumentation mechanism that can be used by the runtime system. We show that this technique introduces only minor overhead and we compare it to the Dyninst mechanism. © 2010 23th International Conference on architecture of Computing Systems 2010, ARCS 2010 - Workshop Proceedings. All rights reserved.

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Delivering guidance information in heterogeneous systems 23

Delivering guidance information in heterogeneous systems

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23th International Conference on architecture of Computing Systems 2010, ARCS 2010

作者： Nowak, Fabian Kicherer, Mario Buchty, Rainer Karl, Wolfgang Chair for Computer Architecture Karlsruhe Institute of Technology Karlsruhe76128 Germany

ISBN: (纸本)9783800732227

With the advent of reconfigurable platforms and GPUs, we need means to successfully support the programmer and the system scheduler in efficiently exploiting the resources of the system. We present an approach of how the programmer can annotate the code so that a hardware abstraction layer can choose which resource to use for a given function call in a user-transparent manner. We evaluate the introduced toolchain and the time required to obtain these code annotations. © 2010 23th International Conference on architecture of Computing Systems 2010, ARCS 2010 - Workshop Proceedings. All rights reserved.

关键词： Abstracting

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Cost-aware function migration in heterogeneous systems 11

Cost-aware function migration in heterogeneous systems

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Proceedings of the 6th International Conference on High Performance and Embedded architectures and Compilers

作者： Kicherer, Mario Buchty, Rainer Karl, Wolfgang Department Computer Architecture and Parallel Processing Karlsruhe Institute of Technology 76128 Karlsruhe Germany

ISBN: (纸本)9781450302418

Today's approaches towards heterogeneous computing rely on either the programmer or dedicated programming models to efficiently integrate heterogeneous components. In this work, we propose an adaptive cost-aware function-migration mechanism built on top of a light-weight hardware abstraction layer. With this mechanism, the highly dynamic task of choosing the most beneficial processing unit will be hidden from the programmer while causing only minor variation in the work and program flow. The migration mechanism transparently adapts to the current workload and system environment without the necessity of JIT compilation or binary translation. Evaluation shows that our approach successfully adapts to new circumstances and predicts the most beneficial processing unit (PU). Through fine-grained PU selection, our solution achieves a speedup of up to 2.27 for the average kernel execution time but introduces only a marginal overhead in case its services are not required. Copyright 2011 ACM.

关键词： Abstracting

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Multivariate time series imputation for energy data using neural networks

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Energy and AI 2023年第3期13卷 25-35页

作者： Christopher Bulte Max Kleinebrahm Hasan Umitcan Yilmaz Juan Gomez-Romero Institute for Industrial Production(IIP) Chair of Energy EconomicsKarlsruhe Institute of Technology(KIT)Germany Department of Computer Science and Artificial Intelligence University of GranadaSpain

Multivariate time series with missing values are common in a wide range of applications,including energy *** imputation methods often fail to focus on the temporal dynamics and the cross-dimensional correlation *** this paper we propose a two-step method based on an attention model to impute missing values in multivariate energy time ***,the underlying distribution of the missing values in the data is *** information is then further used to train an attention based imputation *** learning the distribution prior to the imputation process,the model can respond flexibly to the specific characteristics of the underlying *** developed model is applied to European energy data,obtained from the European Network of Transmission System Operators for *** different evaluation metrics and benchmarks,the conducted experiments show that the proposed model is preferable to the benchmarks and is able to accurately impute missing values.

关键词： Missing value estimation Multivariate time series Neural networks Attention model Energy data

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Reliable Software for Unreliable Hardware 1

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1000年

作者： Semeen Rehman Muhammad Shafique Jörg Henkel

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Middleware support for transparent client-side caching

Middleware support for transparent client-side caching

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SC 2002, Workshop on Software Composition Affiliated with ETAPS 2002 (Satellite Event of ETAPS 2002)

作者： Pohl, Christoph Schill, Alexander Dresden University of Technology Institute for System Architecture Chair for Computer Networks Germany

This paper reflects on existing caching concepts in proxies and stubs of component technologies and lines out their advantages and deficiencies. A new concept is introduced that averts proliferation of component stubs on client side while transparently providing efficient caching of attributes that doesn't require any changes to existing code at all. Common object-oriented design facilities and code generation tools are leveraged to support seamless integration of these caching concepts into the development cycle. ©2002 Published by Elsevier Science B.V.

关键词： Middleware

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Energy-Aware Heterogeneous Federated Learning via Approximate DNN Accelerators

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IEEE Transactions on computer-Aided Design of Integrated Circuits and Systems 2024年第6期44卷 2054-2066页

作者： Pfeiffer, Kilian Balaskas, Konstantinos Siozios, Kostas Henkel, Jorg Karlsruhe Institute of Technology Chair for Embedded Systems Karlsruhe76131 Germany University of Patras Department of Computer Engineering and Informatics Patras26504 Greece Aristotle University of Thessaloniki Department of Physics Thessaloniki54124 Greece

In Federated Learning (FL), devices that participate in the training usually have heterogeneous resources, i.e., energy availability. In current deployments of FL, devices that do not fulfill certain hardware requirements are often dropped from the collaborative training. However, dropping devices in FL can degrade training accuracy and introduce bias or unfairness. Several works have tackled this problem on an algorithm level, e.g., by letting constrained devices train a subset of the server neural network (NN) model. However, it has been observed that these techniques are not effective w.r.t. accuracy. Importantly, they make simplistic assumptions about devices' resources via indirect metrics such as multiply accumulate (MAC) operations or peak memory requirements. We observe that memory access costs (that are currently not considered in simplistic metrics) have a significant impact on the energy consumption. In this work, for the first time, we consider on-device accelerator design for FL with heterogeneous devices. We utilize compressed arithmetic formats and approximate computing, targeting to satisfy limited energy budgets. Using a hardware-aware energy model, we observe that, contrary to the state of the art's moderate energy reduction, our technique allows for lowering the energy requirements (by 4×) while maintaining higher accuracy. © 1982-2012 IEEE.

关键词： Budget control

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Realizing a Proactive, Self-Optimizing System Behavior within Adaptive, Heterogeneous Many-Core architectures

Realizing a Proactive, Self-Optimizing System Behavior withi...

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International Conference on Self-Adaptive and Self-Organizing Systems (SASO)

作者： David Kramer Wolfgang Karl Chair of Computer Architecture and Parallel Processing Karlsruhe Institute of Technology Karlsruhe Germany

For maintaining high performance and minimizing power consumption, adaptive, heterogeneous many-core architectures can be adapted at runtime to changing environmental requests or conditions as well as to changes resulting from the dynamics of the workload itself. However, the huge complexity of such architectures makes their optimization very challenging at runtime. This challenge is therefore addressed within this paper by an Organic Computing approach for realizing a proactive, self-optimizing system behavior within adaptive, heterogeneous systems using a light-weight Learning Classifier System and a Run Length Encoding Markov predictor. The first realizes a self-optimizing behavior, freeing the user from the burden of optimizing the system manually, and the latter captures the system behavior, permits prediction of future system states, and therefore permits exploiting regular behavior for further improving the overall system performance. Using the use case of optimizing the overall system performance, results showed that the proactive, self-optimizing system achieved a performance improvement of 11.3% in comparison to a non-optimizing system.

关键词： Optimization Markov processes Monitoring computer architecture Runtime Adaptive systems Vectors

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A Scalable Monitoring Infrastructure for Self-Organizing Many-Core architectures

A Scalable Monitoring Infrastructure for Self-Organizing Man...

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Euromicro Symposium on Digital System Design

作者： David Kramer Wolfgang Karl Chair for Computer Architecture and Parallel Processing Karlsruhe Institute of Technology Karlsruhe Germany

Self-organizing principles can address the growing complexity and the huge challenge of management and efficient utilization of adaptive many-core architectures. Fundamental for realizing a self-organizing behavior within such architectures is a dedicated monitoring infrastructure that provides the essential information about the system status and system behavior for realizing the basic property of self-awareness. This paper therefore proposes a flexible, hierarchical and scalable monitoring infrastructure for self-organizing, adaptive many-core architectures. The employed basic monitoring unit in the bottom monitoring layer performs data aggregation and filtering and reduces the amount of data that must be processed in higher monitoring layers. The middle layer performs first data analysis and is further responsible for hiding the heterogeneity of the underlying hardware configuration to the topmost monitoring layer. The latter is finally responsible for detecting changes in the system behavior and realizing self-awareness. The proposed monitoring infrastructure was evaluated entirely using a simulation framework. Results show that the infrastructure is able of detecting changes in the system behavior of an entire many-core system causing only a minor system disturbance. Further, the prototypical implementation of the basic monitoring unit proved that it can be realized very efficiently in hardware.

关键词： Monitoring Radiation detectors Hardware Data analysis Arrays Adaptive systems

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