Improving responsiveness of soft aperiodic tasks using proportional slack time

In a real-time system with both hard real-time periodic jobs and soft real-time aperiodic jobs, it is important to guarantee that the deadline of each periodic job is met, as well as to provide a fast response time for each aperiodic job. We propose an algorithm, called Proportional Slack Reserve (PSR), that produces an efficient schedule for such an environment. For every execution unit of a periodic job, the PSR algorithm reserves time which can be used for execution of aperiodic jobs. If reserved time is not available, the algorithm assigns a deadline to an aperiodic job for achieving better responsiveness of aperiodic jobs. The proposed algorithm can fully utilize processing power while meeting all deadlines of periodic jobs. It can also easily reclaim the time unused by the periodic job. We analytically show that for each aperiodic job, the response time in a PSR schedule is no longer than that in a TBS schedule, which is known to be efficient for servicing aperiodic jobs. We also present simulation results in which the response time of PSR is significantly improved over that of TBS, and moreover the performance of PSR compares favorably with TB(N) considering scheduling overhead.     

Redirection based recovery for MPLS network systems

To provide a reliable backbone network, fault tolerance should be considered in the network design. For a multiprotocol label switching (MPLS) based backbone network, the fault-tolerant issue focuses on how to protect the traffic of a label switched paths (LSP) against node and link failures. In IETF, two well-known recovery mechanisms (protection switching and rerouting) have been proposed. To further enhance the fault-tolerant performance of the two recovery mechanisms, the proposed approach utilizes the failure-free LSPs to transmit the traffic of the failed LSP (the affected traffic). To avoid affecting the original traffic of each failure-free LSP, the proposed approach applies the solution of the minimum cost flow to determine the amount of affected traffic to be transmitted by each failure-free LSP. For transmitting the affected traffic along a failure-free working LSP, IP tunneling technique is used. We also propose a permission token scheme to solve the packet disorder problem. Finally, simulation experiments are performed to show the effectiveness of the proposed approach.     

Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

Multi-objective parameter estimation of induction motor using particle swarm optimization

In order to simplify the offline parameter estimation of induction motor, a method based on optimization using a particle swarm optimization (PSO) technique is presented. Three different induction motor models such as approximate, exact and deep bar circuit models are considered. The parameter estimation methodology describes a method for estimating the steady-state equivalent circuit parameters from the motor performance characteristics, which is normally available from the manufacturer data or from tests. The optimization problem is formulated as multi-objective function to minimize the error between the estimated and the manufacturer data. The sensitivity analysis is also performed to identify parameters, which have the most impact on motor performance. The feasibility of the proposed method is demonstrated for two different motors and it is compared with the genetic algorithm and the classical parameter estimation method. Simulation results show that the proposed PSO method was indeed capable of estimating the parameters over a wide operating range of the motor.     

O3R: Ontology-based mechanism for a human-centered environment targeted at the analysis of navigation patterns

Web Usage Mining (WUM) is the application of data mining techniques over Web server logs in order to extract navigation usage patterns. The analysis of mining patterns for assessing the knowledge they reveal is a critical phase in WUM. The main challenges are: (a) mining algorithms yield a huge number of patterns and (b) there is a significant semantic gap between URLs and events performed by users. In this paper, we describe the pattern analysis mechanisms integrated in O3R (Ontology-based Rules Retrieval and Rummaging), a human-centered environment for the analysis of navigation rules. O3R explores the synergy of mechanisms for retrieving and analyzing patterns. Filtering and clustering allow users to retrieve subsets of patterns with specific characteristics, in order to deal with the large volume of patterns. Rummaging mechanisms are targeted at assessing the meaning and relevance of pattern with regard to the domain, and it is particularly suitable for exploratory analysis. The distinctive feature of O3R is that is dynamically associates meaning to patterns using the concepts and relationships of a domain ontology, as a means of reducing the gap between syntactic URLs and semantic events performed by users. The paper describes the mechanisms in detail, and explores their synergic integration in the O3R prototype. It also reports two case studies that evaluate the use of O3R for the analysis of navigation patterns of a learning site.     

A fuzzy ensemble of parallel polynomial neural networks with information granules formed by fuzzy clustering

In this paper, we introduce a new category of fuzzy models called a fuzzy ensemble of parallel polynomial neural network (FEP²N²), which consist of a series of polynomial neural networks weighted by activation levels of information granules formed with the use of fuzzy clustering. The two underlying design mechanisms of the proposed networks rely on information granules resulting from the use of fuzzy C-means clustering (FCM) and take advantage of polynomial neural networks (PNNs).The resulting model comes in the form of parallel polynomial neural networks. In the design procedure, in order to estimate the optimal values of the coefficients of polynomial neural networks we use a weighted least square estimation algorithm. We incorporate various types of structures as the consequent part of the fuzzy model when using the learning algorithm. Among the diverse structures being available, we consider polynomial neural networks, which exhibit highly nonlinear characteristics when being viewed as local learning models.We use FCM to form information granules and to overcome the high dimensionality problem. We adopt PNNs to find the optimal local models, which can describe the relationship between the input variables and output variable within some local region of the input space.We show that the generalization capabilities as well as the approximation abilities of the proposed model are improved as a result of using polynomial neural networks. The performance of the network is quantified through experimentation in which we use a number of benchmarks already exploited within the realm of fuzzy or neurofuzzy modeling.     

Improving cache locking performance of modern embedded systems via the addition of a miss table at the L2 cache level

To confer the robustness and high quality of service, modern computing architectures running real-time applications should provide high system performance and high timing predictability. Cache memory is used to improve performance by bridging the speed gap between the main memory and CPU. However, the cache introduces timing unpredictability creating serious challenges for real-time applications. Herein, we introduce a miss table (MT) based cache locking scheme at level-2 (L2) cache to further improve the timing predictability and system performance/power ratio. The MT holds information of block addresses related to the application being processed which cause most cache misses if not locked. Information in MT is used for efficient selection of the blocks to be locked and victim blocks to be replaced. This MT based approach improves timing predictability by locking important blocks with the highest number of misses inside the cache for the entire execution time. In addition, this technique decreases the average delay per task and total power consumption by reducing cache misses and avoiding unnecessary data transfers. This MT based solution is effective for both uniprocessors and multicores. We evaluate the proposed MT-based cache locking scheme by simulating an 8-core processor with 2 levels of caches using MPEG4 decoding, H.264/AVC decoding, FFT, and MI workloads. Experimental results show that in addition to improving the predictability, a reduction of 21% in mean delay per task and a reduction of 18% in total power consumption are achieved for MPEG4 (and H.264/AVC) by using MT and locking 25% of the L2. The MT results in about 5% delay and power reductions on these video applications, possibly more on applications with worse cache behavior. For the FFT and MI (and other) applications whose code fits inside the level-1 instruction (I1) cache, the mean delay per task increases only by 3% and total power consumption increases by 2% due to the addition of the MT.     

The direct adaptive control based on the singularly perturbed model with the unknown consequence parameters

A class of nonlinear singularly perturbed systems can be approximated by the Fuzzy Singularly Perturbed Model (FSPM).This paper proposes a new direct adaptive controller on the basis of the FSPM. The aim is to make the states of the closed-loop system follow those of the reference model. The feedback gains of the controller can be adjusted on line; and we don’t require the parameters known in prior. Lyapunov constitute techniques are used to prove the stability of the closed loop systems. Finally the simulations illustrate the effectiveness of this approach.     

Pattern recognition using feature feedback: Application to face recognition

In this paper, we propose a new pattern recognition method using feature feedback and present its application to face recognition. Conventional pattern recognition methods extract the features employed for classification using PCA, LDA and so on. On the other hand, in the proposed method, the extracted features are analyzed in the original space using feature feedback. Using reverse mapping from the extracted features to the original space, we can identify the important part of the original data that affects the classification. In this way, we can modify the data to obtain a higher classification rate, make it more compact or abbreviate the required sensors. To verify the applicability of the proposed method, we apply it to face recognition using the Yale Face Database. Each face image is divided into two parts, the important part and unimportant part, using feature feedback, and the classification performed using the feature mask obtained from feature feedback. Also, we combine face recognition with image compression. The experimental results show that the proposed method works well.     

Handling multi-objective optimization problems with a multi-swarm cooperative particle swarm optimizer

This paper presents a new multi-objective optimization algorithm in which multi-swarm cooperative strategy is incorporated into particle swarm optimization algorithm, called multi-swarm cooperative multi-objective particle swarm optimizer (MC-MOPSO). This algorithm consists of multiple slave swarms and one master swarm. Each slave swarm is designed to optimize one objective function of the multi-objective problem in order to find out all the non-dominated optima of this objective function. In order to produce a well distributed Pareto front, the master swarm is developed to cover gaps among non-dominated optima by using a local MOPSO algorithm. Moreover, in order to strengthen the capability locating multiple optima of the PSO, several improved techniques such as the Pareto dominance-based species technique and the escape strategy of mature species are introduced. The simulation results indicate that our algorithm is highly competitive to solving the multi-objective optimization problems.