In this paper, we present a robot middleware technology named robot software communications architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the ...
详细信息
ISBN:
(纸本)9781424400546
In this paper, we present a robot middleware technology named robot software communications architecture (RSCA) for its use in networked home service robots. The RSCA provides a standard operating environment for the robot applications together with a framework that expedites the development of such applications. The operating environment is comprised of a real-time operating system, a communication middleware, and a deployment middleware. Particularly, the deployment middleware supports the reconfiguration of component-based robot applications including installation, creation, start, stop, tear-down, and un-installation. In designing RSCA, we have adopted a middleware called SCA from the software defined radio domain and extend it since the original SCA lacks the real-time guarantees and appropriate event services. We have fully implemented RSCA and performed measurements to quantify its run-time performance. Our implementation clearly shows the viability of RSCA
The conjugate residual (CR) algorithm is a Krylov subspace algorithm that can be used to obtain fast solutions for symmetric linear systems with very large and very sparse coefficient matrices. By changing the computa...
详细信息
The conjugate residual (CR) algorithm is a Krylov subspace algorithm that can be used to obtain fast solutions for symmetric linear systems with very large and very sparse coefficient matrices. By changing the computation sequence in the CR algorithm, this paper proposes an improved Conjugate Residual (ICR) algorithm. The numerical stability of ICR algorithm is same as CR algorithm, but the synchronization overhead that represents the bottleneck of the parallel performance is effectively reduced by a factor of two. And all inner products of a single iteration step are independent and communication time required for inner product can be over lapped efficiently with computation time of vector updates. From the theoretical and experimental analysis it is found that ICR algorithm is faster than CR algorithm as the number of processors in creases. The experiments performed on a 64-processor cluster indicate that ICR is approximately 30% faster than CR.
Data value prediction has been widely accepted as an effective mechanism to break data hazards for high performance processor design. Several works have reported promising performance potential. However, there is hard...
详细信息
Grid computing presents a new trend to distributed computation and Internet applications, which can construct a virtual single image of heterogeneous resources, provide uniform application interface and integrate wide...
详细信息
We present a framework to specify and evaluate the coordinations in MAS. The framework draws on a MAS logic incorporating a number of temporal and dynamic operators, and has some important characteristics such as high...
详细信息
We present a framework to specify and evaluate the coordinations in MAS. The framework draws on a MAS logic incorporating a number of temporal and dynamic operators, and has some important characteristics such as high-level, abstract, complete, and general-purpose. Based on the framework, the request/service cooperation models are studied and analyzed.
Welcome to the proceedings of GCC2004 and the city of Wuhan. Grid computing has become a mainstream research area in computer science and the GCC conference has become one of the premier forums for presentation of new...
详细信息
ISBN:
(数字)9783540302070
ISBN:
(纸本)9783540235781
Welcome to the proceedings of GCC2004 and the city of Wuhan. Grid computing has become a mainstream research area in computer science and the GCC conference has become one of the premier forums for presentation of new and exciting research in all aspectsofgridandcooperativecomputing. Theprogramcommitteeispleasedtopresent the proceedings of the 3rd International Conference on Grid and Cooperative Comp- ing (GCC2004), which comprises a collection of excellent technical papers, posters, workshops, and keynote speeches. The papers accepted cover a wide range of exciting topics, including resource grid and service grid, information grid and knowledge grid, grid monitoring,managementand organizationtools, grid portal, grid service, Web s- vices and their QoS, service orchestration, grid middleware and toolkits, software glue technologies, grid security, innovative grid applications, advanced resource reservation andscheduling,performanceevaluationandmodeling,computer-supportedcooperative work, P2P computing, automatic computing, and meta-information management. The conference continues to grow and this year a record total of 581 manuscripts (including workshop submissions) were submitted for consideration. Expecting this growth, the size of the program committee was increased from 50 members for GCC 2003 for 70 in GCC 2004. Relevant differences from previous editions of the conf- ence: it is worth mentioning a signi?cant increase in the number of papers submitted by authors from outside China; and the acceptance rate was much lower than for p- vious GCC conferences. From the 427 papers submitted to the main conference, the program committee selected only 96 regular papers for oral presentation and 62 short papers for poster presentation in the program.
Welcome to the proceedings of GCC2004 and the city of Wuhan. Grid computing has become a mainstream research area in computer science and the GCC conference has become one of the premier forums for presentation of new...
详细信息
ISBN:
(数字)9783540302087
ISBN:
(纸本)9783540235644
Welcome to the proceedings of GCC2004 and the city of Wuhan. Grid computing has become a mainstream research area in computer science and the GCC conference has become one of the premier forums for presentation of new and exciting research in all aspectsofgridandcooperativecomputing. Theprogramcommitteeispleasedtopresent the proceedings of the 3rd International Conference on Grid and Cooperative Comp- ing (GCC2004), which comprises a collection of excellent technical papers, posters, workshops, and keynote speeches. The papers accepted cover a wide range of exciting topics, including resource grid and service grid, information grid and knowledge grid, grid monitoring,managementand organizationtools, grid portal, grid service, Web s- vices and their QoS, service orchestration, grid middleware and toolkits, software glue technologies, grid security, innovative grid applications, advanced resource reservation andscheduling,performanceevaluationandmodeling,computer-supportedcooperative work, P2P computing, automatic computing, and meta-information management. The conference continues to grow and this year a record total of 581 manuscripts (including workshop submissions) were submitted for consideration. Expecting this growth, the size of the program committee was increased from 50 members for GCC 2003 for 70 in GCC 2004. Relevant differences from previous editions of the conf- ence: it is worth mentioning a signi?cant increase in the number of papers submitted by authors from outside China; and the acceptance rate was much lower than for p- vious GCC conferences. From the 427 papers submitted to the main conference, the program committee selected only 96 regular papers for oral presentation and 62 short papers for poster presentation in the program.
暂无评论