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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jacopo Panerati Luca Gianoli Carlo Pinciroli Abdo Shabah Gabriela Nicolescu Giovanni Beltrame Polytechnique Montréal Department of Computer and Software Engineering Department of Computer Science Worcester Polytechnic Institute HumanITas Solutions Montreal QC Canada

Swarm robotics carries the potential of solving complex tasks using simple devices. To do so, however, one must define distributed control algorithms capable of producing globally coordinated behaviours. We propose a methodology to address the problem of the spatial coverage of multiple tasks with a swarm of robots that must not lose global connectivity. Our methodology comprises two layers: (i) a distributed Robot Navigation Controller (RNC) is responsible for simultaneously guaranteeing connectivity and pursuit of multiple tasks; and (ii) a global Task Scheduling Controller approximates the optimal strategy for the RNC with minimal computational load. Our contributions include: (i) a qualitative analysis of the literature on connectivity assessment, (ii) our proposed methodology, (iii) simulations in a multi-physics environment, (iv) real-life robot experiments, and (v) the experimental validation of connectivity, coverage optimality, and fault-tolerance.

关键词： Task analysis Robot kinematics Navigation Eigenvalues and eigenfunctions Computational modeling Multi-robot systems

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Seeking optimal magnetic core shapes for strong gradient generation in dipole field navigation 1

Seeking optimal magnetic core shapes for strong gradient gen...

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1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2017

作者： Latulippe, Maxime Martel, Sylvain NanoRobotics Laboratory Department of Computer and Software Engineering Polytechnique Montréal MontrealQC Canada

ISBN: (纸本)9781538603468

Dipole Field Navigation (DFN) has been proposed previously as a promising remote magnetic actuation method for the navigation of microscale agents in vascular networks for the targeted delivery of therapeutics. This method exploits the strong magnetic field of a magnetic resonance imaging scanner to bring the agents at saturation magnetization, and relies on the proper positioning of ferromagnetic cores around the patient in the scanner to induce strong magnetic gradients for navigation. It is currently the only method providing both the high field and high gradient strengths required for the navigation of microparticles at the human scale. Because of the simpler magnetic models of this shape, previous works on DFN considered only spherical ferromagnetic cores. This work investigates different core shapes and shows that the sphere can be outperformed for deep tissue interventions. The gradients around different shapes, calculated by finite element modeling, are compared in the context of typical DFN conditions. Results show that, for the same amount of ferromagnetic material, the hemisphere and the disc generate significantly higher gradients (>50% gains) in deep tissues. Using those shapes instead of spheres would therefore improve the performances of DFN for targeting deep regions in the body. © 2017 IEEE.

关键词： Spheres

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An analysis of random cache effects on real-time multi-core scheduling algorithms 28

An analysis of random cache effects on real-time multi-core ...

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2017 28th International Symposium on Rapid System Prototyping: Shortening the Path from Specification to Prototype, RSP 2017

作者： Hafnaoui, Imane Chen, Chao Ayari, Rabeh Nicolescu, Gabriela Beltrame, Giovanni Department of Computer and Software Engineering Ecole Polytechnique de Montreal MontréalQC Canada

ISBN: (纸本)9781450354189

The effect of sharing the last-level cache (LLC) among cores in a multi-core system has not been thoroughly investigated especially in the design of efficient scheduling algorithms. And with the growing interest in random caches, which allow for an easier estimation of the worst-case execution time of tasks in critical real-time embedded systems, tools that analyse the sensitivity of workloads to sharing the LLC become necessary. In this paper, we extend a realtime multiprocessor scheduling simulator, SimSo, with a framework that incorporates a random cache model for multi-level caches to evaluate emerging scheduling algorithms under the influence of shared caches. A set of experiments were performed to study the behavior of workloads with respect to worst-case response time, average slack time, and maximum utilization, with varying cache designs under different scheduling algorithms. © 2017 ACM.

关键词： Scheduling algorithms

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Modeling perceptual aliasing in SLAM via discrete-continuous graphical models

arXiv

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arXiv 2018年

作者： Lajoie, Pierre-Yves Hu, Siyi Beltrame, Giovanni Carlone, Luca The Department of Computer and Software Engineering École Polytechnique de Montréal Montreal Canada Massachusetts Institute of Technology Cambridge United States

Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where different places generate a similar visual (or, in general, perceptual) footprint. This causes spurious measurements to be fed to the SLAM estimator, which typically results in incorrect localization and mapping results. The problem is exacerbated by the fact that those outliers are highly correlated, in the sense that perceptual aliasing creates a large number of mutually-consistent outliers. Another issue stems from the fact that most state-of-the-art techniques rely on a given trajectory guess (e.g., from odometry) to discern between inliers and outliers and this makes the resulting pipeline brittle, since the accumulation of error may result in incorrect choices and recovery from failures is far from trivial. This work provides a unified framework to model perceptual aliasing in SLAM and provides practical algorithms that can cope with outliers without relying on any initial guess. We present two main contributions. The first is a Discrete-Continuous Graphical Model (DC-GM) for SLAM: the continuous portion of the DC-GM captures the standard SLAM problem, while the discrete portion describes the selection of the outliers and models their correlation. The second contribution is a semidefinite relaxation to perform inference in the DC-GM that returns estimates with provable sub-optimality guarantees. Experimental results on standard benchmarking datasets show that the proposed technique compares favorably with state-of-the-art methods while not relying on an initial guess for *** Codes 65K05, 62F10, 68T40, 68W40, 68W25, Copyright © 2018, The Authors. All rights reserved.

关键词： Mapping

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Security as a Service for Public Cloud Tenants(SaaS)

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Procedia computer Science 2018年 130卷 1025-1030页

作者： Mohamed Hawedi Chamseddine Talhi Hanifa Boucheneb Department of Software and IT Engineering École de technologie supérieure Université du Québec Montreal H3C1K3 Canada Department of Computer Engineering École Polytechnique de Montréal Université de Montréal Montreal QC H3T1J4 Canada

Cloud computing is a novel paradigm that is known for its elasticity and diversity in terms of the services provided to the end users. Although these services offer many benefits such as availability, cost-reduction, flexible payment plans, security, and efficiency, there are still several security concerns that are considered major obstacles preventing tenants from transferring their resources to the cloud. The security provided by the cloud service providers is still inadequate for the tenants security requirements because providers use standard security mechanisms regardless of the tenants requirements. Thus, cloud tenants cannot rely on the security provided by the cloud providers. Although, traditional intrusion detection systems have been proposed and developed by different entities including researchers, academicians, and practitioners as a solution that cloud providers can offer to their tenants to cope with security issues in the cloud, the requirements of the tenants in terms of security are not considered. It is very important, however, to consider the differences in the tenants security requirements to provide better security services. In this research, we concentrate on providing a security service that allows cloud tenants to monitor and protect their virtual environments by deploying a security mechanism that is capable of meeting their needs. The main contribution of this work is providing an efficient, flexible, and low-cost security as a service model - based on Intrusion Detection Systems (IDS) - that takes the tenants security requirements into consideration.

关键词： Cloud Computing Intrusion Detection System Security as a Service Tenants Security Requirements

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A Configurable FPGA Implementation of the Tanh Function Using DCT Interpolation

A Configurable FPGA Implementation of the Tanh Function Usin...

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Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM)

作者： Ahmed M. Abdelsalam J. M. Pierre Langlois F. Cheriet Computer and Software Engineering Department Polytechnique Montreal Montreal Canada

Efficient implementation of non-linear activation functions is essential to the implementation of deep learning models on FPGAs. We introduce such an implementation based on the Discrete Cosine Transform Interpolation Filter (DCTIF). The proposed interpolation architecture combines simple arithmetic operations on the stored samples of the hyperbolic tangent function and on input data. It achieves almost 3× better precision than previous works while using a similar amount computational resources and a small amount of memory. Various combinations of DCTIF parameters can be chosen to trade off the accuracy and the overall circuit complexity of the tanh function. In one case, the proposed architecture approximates the hyperbolic tangent activation function with 0.004 maximum error while requiring only 1.45 kbits BRAM memory and 21 LUTs of a Virtex-7 FPGA.

关键词： Interpolation Field programmable gate arrays Table lookup Discrete cosine transforms Decoding Hardware

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An Analysis of Random Cache Effects on Real-Time Multi-Core Scheduling Algorithms

An Analysis of Random Cache Effects on Real-Time Multi-Core ...

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International Workshop on Rapid System Prototyping (RSP)

作者： Imane Hafnaoui Chao Chen Rabeh Ayari Gabriela Nicolescu Giovanni Beltrame Department of Computer and Software Engineering Ecole Polytechnique de Montreal Montréal QC Canada

The following topics are dealt with: embedded systems; program compilers; microprocessor chips; multiprocessing systems; Internet of Things; power aware computing; field programmable gate arrays; reduced instruction s... 详细信息

ISBN: (纸本)9781450354189;9781450354189

关键词： Task analysis Real-time systems Scheduling algorithms Timing Computational modeling Scheduling Multicore processing

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Enhanced Userspace and In-Kernel Trace Filtering for Production Systems

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Journal of computer Science & Technology 2016年第6期31卷 1161-1178页

作者： Suchakrapani Datt Sharma Michel Dagenais Department of Computer and Software Engineering Ecole Polytechnique de Montrdal Montreal H3T 1J4 Canada

Trace tools like LTTng have a very low impact on the traced software as compared with traditional debuggers. However, for long runs, in resource constrained and high throughput environments, such as embedded network switching nodes and production servers, the collective tracing impact on the target software adds up considerably. The overhead is not just in terms of execution time but also in terms of the huge amount of data to be stored, processed and analyzed offiine. This paper presents a novel way of dealing with such huge trace data generation by introducing a Just-In-Time （JIT） filter based tracing system, for sieving through the flood of high frequency events, and recording only those that are relevant, when a specific condition is met. With a tiny filtering cost, the user can filter out most events and focus only on the events of interest. We show that in certain scenarios, the JIT compiled filters prove to be three times more effective than similar interpreted filters. We also show that with the increasing number of filter predicates and context variables, the benefits of JIT compilation increase with some JIT compiled filters being even three times faster than their interpreted counterparts. We further present a new architecture, using our filtering system, which can enable co-operative tracing between kernel and process tracing VMs （virtual machines） that share data efficiently. We demonstrate its use through a tracing scenario where the user can dynamically specify syscall latency through the userspace tracing VM whose effect is reflected in tracing decisions made by the kernel tracing VM. We compare the data access performance on our shared memory system and show an almost 100 times improvement over traditional data sharing for co-operative tracing.

关键词： tracing debugging filtering operating system interpreter

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software Evolution and Quality Data from Controlled, Multiple, Industrial Case Studies

Software Evolution and Quality Data from Controlled, Multipl...

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International Mining software Repositories, MSR

作者： Aiko Yamashita S. Amirhossein Abtahizadeh Foutse Khomh Yann-Gaël Guéhéneuc Oslo and Akershus University College of Applied Sciences Centrum Wiskunde & Informatica Department of Computer and Software Engineering Polytechnique de Montreal

A main difficulty to study the evolution and quality of real-life software systems is the effect of moderator factors, such as: programming skill, type of maintenance task, and learning effect. Experimenters must account for moderator factors to identify the relationships between the variables of interest. In practice, controlling for moderator factors in realistic (industrial) settings is expensive and rather difficult. The data presented in this paper has two particularities: First, it involves six professional developers and four real-life, industrial systems. Second, it was obtained from controlled, multiple case studies where the moderator variables: programming skill, maintenance task, and learning effect were controlled for. This data set is relevant to experimenters studying evolution and quality of real-life systems, in particular those interested in studying industrial systems and replicating empirical studies.

关键词： software Maintenance engineering History Data mining Measurement Programming profession

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Entity typing and linking using SPARQL patterns and DBpedia 3rd

Entity typing and linking using SPARQL patterns and DBpedia

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3rd Semantic Web Challenges Conference, ESWC 2016

作者： Haidar-Ahmad, Lara Font, Ludovic Zouaq, Amal Gagnon, Michel Department of Computer and Software Engineering Ecole Polytechnique de Montreal Montreal Canada School of Electrical Engineering and Computer Science University of Ottawa Ottawa Canada

ISBN: (纸本)9783319465647

The automatic extraction of entities and their types from text, coupled with entity linking to LOD datasets, are fundamental challenges for the evolution of the Semantic Web. In this paper, we describe an approach to automatically process natural language definitions to (a) extract entity types and (b) align those types to the DOLCE+DUL ontology. We propose SPARQL patterns based on recurring dependency representations between entities and their candidate types. For the alignment subtask, we essentially rely on a pipeline of strategies that exploit the DBpedia knowledge base and we discuss some limitations of DBpedia in this context. © Springer International Publishing Switzerland 2016.

关键词： Knowledge based systems

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