On-demand minimum cost benchmarking for intermediate dataset storage in scientific cloud workflow systems

Many scientific workflows are data intensive: large volumes of intermediate datasets are generated during their execution. Some valuable intermediate datasets need to be stored for sharing or reuse. Traditionally, they are selectively stored according to the system storage capacity, determined manually. As doing science on clouds has become popular nowadays, more intermediate datasets in scientific cloud workflows can be stored by different storage strategies based on a pay-as-you-go model. In this paper, we build an intermediate data dependency graph (IDG) from the data provenances in scientific workflows. With the IDG, deleted intermediate datasets can be regenerated, and as such we develop a novel algorithm that can find a minimum cost storage strategy for the intermediate datasets in scientific cloud workflow systems. The strategy achieves the best trade-off of computation cost and storage cost by automatically storing the most appropriate intermediate datasets in the cloud storage. This strategy can be utilised on demand as a minimum cost benchmark for all other intermediate dataset storage strategies in the cloud. We utilise Amazon clouds’ cost model and apply the algorithm to general random as well as specific astrophysics pulsar searching scientific workflows for evaluation. The results show that benchmarking effectively demonstrates the cost effectiveness over other representative storage strategies.     

Improving the yield of NoC-based systems through fault diagnosis and adaptive routing

We propose an effective and low cost method to increase the yield and the lifetime of torus NoCs. The method consists in detecting and diagnosing NoC interconnect faults using BIST structures and activating alternative paths for the faulty links. Alternative paths use the inherent redundancy of the torus topology, thus leading to minimal performance, area, and power overhead. We assume an extended interconnect fault model comprising stuck-at and pairwise shorts within a single link or between any two links in the network. Experimental results for a 3×3 NoC show that the proposed approach can correctly diagnose 93% of all possible interconnect faults and can mitigate 42% of those faults (representing 94.4% of the solvable faults) with a worst case performance penalty of 8% and 1% of area overhead. We also demonstrate the scalability of the method by presenting its application to larger NoCs.     

Detection and characterization of defects using GMR probes and artificial neural networks

This work presents an eddy-current testing system based on a giant magnetoresistive (GMR) sensing device. Non-destructive tests in aluminum plates are applied in order to extract information about possible defects: cracks, holes and other mechanical damages. Eddy-current testing (ECT) presents major benefits such as low cost, high checking speed, robustness and high sensitivity to large classes of defects. Coil based architecture probes or coil-magnetoresistive probes are usually used in ECT. In our application the GMR sensor is used to detect a magnetic field component parallel to a plate surface, when an excitation field perpendicular to the plate is imposed. A neural network processing architecture, including a multilayer perceptron and a competitive neural network, is used to classify defects using the output amplitude of the eddy-current probe (ECP) and its operation frequency. The crack detection, classification and estimation of the geometrical characteristics, for different classes of defects, are described in the paper.     

IEEE 802.21: Media independence beyond handover

The IEEE 802.21 standard facilitates media independent handovers by providing higher layer mobility management functions with common service primitives for all technologies. Right after the base specification was published, several voices rose up in the working group advocating to broaden the scope of IEEE 802.21 beyond handovers. This paper aims at updating the reader with the main challenges and functionalities required to create a Media Independence Service Layer, through the analysis of scenarios which are being discussed within the working group: 1) Wireless Coexistence, and 2) Heterogeneous Wireless Multihop Backhaul Networks.     

Providing EAP-based Kerberos pre-authentication and advanced authorization for network federations

Kerberos is a well-known standard protocol which is becoming one of the most widely deployed for authentication and key distribution in application services. However, whereas service providers use the protocol to control their own subscribers, they do not widely deploy Kerberos infrastructures to handle subscribers coming from foreign domains, as happens in network federations. Instead, the deployment of Authentication, Authorization and Accounting (AAA) infrastructures has been preferred for that operation. Thus, the lack of a correct integration between these infrastructures and Kerberos limits the service access only to service provider's subscribers. To avoid this limitation, we design an architecture which integrates a Kerberos pre-authentication mechanism, based on the use of the Extensible Authentication Protocol (EAP), and advanced authorization, based on the standards SAML and XACML, to link the end user authentication and authorization performed through an AAA infrastructure with the delivery of Kerberos tickets in the service provider's domain. We detail the interfaces, protocols, operation and extensions required for our solution. Moreover, we discuss important aspects such as the implications on existing standards.     

MEMS AC voltage reference for miniaturized instrumentation and metrology

This work explores MEMS (Micro-Electro-Mechanical Systems) potentialities to fabricate AC voltage references through mechanical-electrical transduction that could be used for high precision electrical metrology and for applications in miniaturized instrumentation. AC voltage reference ranging from 5 V to 90 V have been designed and fabricated using the same Epitaxial Silicon On Insulator (SOI) surface micromachining process allowing an accurate control of both dimensions and material properties. The measured MEMS AC voltage reference values have been found in a good agreement with CoventorWare calculations. These tests structures have also been used to develop the read-out electronics to drive the MEMS.     

Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter

The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data association hypotheses. In general, recovering the state mean and covariance requires the inversion of a matrix with the size of the state, which is computationally too expensive in time and memory for large problems. Exactly sparse state representations, such as that of Pose SLAM, alleviate the cost of state recovery either in time or in memory, but not in both. In this paper, we present an approach to state estimation that is linear both in execution time and in memory footprint at loop closure, and constant otherwise. The method relies on a state representation that combines the Kalman and the information-based approaches. The strategy is valid for any SLAM system that maintains constraints between marginal states at different time slices. This includes both Pose SLAM, the variant of SLAM where only the robot trajectory is estimated, and hierarchical techniques in which submaps are registered with a network of relative geometric constraints.     

Two-way D algorithm for path planning and replanning

Inspired by the Witkowski’s algorithm, we introduce a novel path planning and replanning algorithm — the two-way D^∗ (TWD^∗) algorithm — based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski’s algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD^∗ algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD^∗ algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D^∗ algorithm as it consists of straight line segments with continuous headings. The TWD^∗ algorithm is tested and compared to the D^∗ and Witkowski’s algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.     

Electro-thermal simulation and characterization of preconcentration membranes

We use electro-thermal simulations to design thermally insulated membranes that support thin film heaters as components of gas preconcentrators. These heaters provide a good thermal homogeneity ensuring a narrow desorption peak and, thus, a good sensor response. Temperature measurements have been carried out using an infrared camera and they are in agreement with the corresponding numerical predictions. Our model has been validated and it can be used in future designs.