{"title":"An Algorithm for Generating Safe and Execution-Optimized Paths","authors":"R. Guernane, N. Achour","doi":"10.1109/ICAS.2009.54","DOIUrl":"https://doi.org/10.1109/ICAS.2009.54","url":null,"abstract":"This paper describes a new scheme for generating paths that are optimized for faster execution while keeping a certain amount of clearance away from obstacles. An optimized path is first extracted from multiple query PRM using a Lazy A* algorithm with a weighted L∞ norm, this latter is post-processed to correct its clearance to over a desired threshold in regions where it is geometrically possible. Finally, the path is further optimized using an iterative oversampling and searching algorithm. This iterative algorithm is monotonically convergent. This scheme is applied to extract optimized motions for robot manipulators with clearance requirements.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130215729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An Adaptive Reinforcement Learning Approach to Policy-Driven Autonomic Management","authors":"R. Bahati, M. Bauer","doi":"10.1109/ICAS.2009.58","DOIUrl":"https://doi.org/10.1109/ICAS.2009.58","url":null,"abstract":"Policies have been explored as a basis for autonomic management. In many cases, there is a need for policy-driven autonomic systems to have the ability to adapt the use of policies based, for example, on past experience, in order to deal with human error or the unpredictability in workload characteristics. This suggests that learning approaches can offer significant potential benefits in providing autonomic systems with the ability to identify preferred uses of existing policies or learn new policies. In this context, we have explored the use of Reinforcement Learning in adaptive policy-driven autonomic management. A key question is whether a model \"learned'' from the use of one set of policies could be applied to another set of \"similar'' policies, or whether a new model must be learned from scratch as a result of changes to an active set of policies. In this paper, we illustrate how a Reinforcement Learning model might be adapted to accommodate such changes.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125101387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Virtual Community for the Dynamic Management of NGN Mobility","authors":"N. Simoni, Xiaofei Xiong, Chunyang Yin","doi":"10.1109/ICAS.2009.33","DOIUrl":"https://doi.org/10.1109/ICAS.2009.33","url":null,"abstract":"The more and more mobility requirements raise the flexibility and complexity of resource management in the NGN context. The autonomic management of this mobility with high ability of adaptation becomes a key challenge. In this paper, according to our generic architecture, we propose the community of common interest by layer. The criterion of regrouping organizes the ambient resources to reach an efficient management. By constituting and managing Virtual Community (VC), the respect of different objectives is ensured in a global service defined as Virtual Private Service Network (VPSN). The proposed functionalities in VC allow to manage dynamically and automatically the service components in a user-centric way. Two use cases will be analyzed and experimented in JXTA to prove the feasibility of our proposition.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117208253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Mikaël Bourhis, G. Desmeulles, Stéphane Bonneaud, François Guerrero, V. Rodin
{"title":"Data Consistency in Distributed Virtual Reality Simulations Applied to Biology","authors":"Mikaël Bourhis, G. Desmeulles, Stéphane Bonneaud, François Guerrero, V. Rodin","doi":"10.1109/ICAS.2009.19","DOIUrl":"https://doi.org/10.1109/ICAS.2009.19","url":null,"abstract":"We perform biological simulations in the virtual reality context. In order to run large simulations, we choose to put together a set of standard computers and create a grid in charge of distributing the biological simulations. We propose to make the distribution on to the ReISCOP generic model, developed in our laboratory, which allows us to easily design biological simulations. This method is also based on the replication of passive elements. It is a spatial distribution in which local simulations are periodically synchronized and the consistency of replicated data is checked. This synchronization is not a strong synchronization but a weak one. The consistency method is built on the transmission between nodes of the grid of the state variations of the data. The software used for distributing simulations is named DIVA, and is an individual based software located on each node of the grid. DIVA confers a peer to peer architecture upon the grid.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"706 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116104574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Semantic Approach to Dynamic Coordination in Autonomous Systems","authors":"A. Katasonov, V. Terziyan","doi":"10.1109/ICAS.2009.32","DOIUrl":"https://doi.org/10.1109/ICAS.2009.32","url":null,"abstract":"In open systems where the components, i.e. the agents and the resources, may be unknown at design time, or in dynamic and self-organizing systems evolving with time, there is a need to enable the agents to communicate their intentions with respect to future activities and resource utilization to resolve coordination issues dynamically. Ideally, we would like to allow ad-hoc interaction, where two standalone independently-designed systems are able to coordinate whenever a need arises. The Semantic Web based approach presented in this paper aims at enabling agents to coordinate without assuming any design-time ontological alignment of them. An agent can express an action intention using own vocabulary, and through the process of dynamic ontology linking other agents will be able to arrive at a practical interpretation of that intention. We also show how our approach can be realized on top of the Semantic Agent Programming Language.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131356480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach","authors":"S. Diamantas, R. Crowder","doi":"10.1109/ICAS.2009.59","DOIUrl":"https://doi.org/10.1109/ICAS.2009.59","url":null,"abstract":"In this paper we examine the problem of localisation and mapping of an unknown environment using data from a laser range finder. In order to support our method we detect landmarks in the environment using the same laser finder. For the localisation and mapping process to take place we assume that the mobile robot will follow a path until a landmark is observed by the laser scanner. Our approach alleviates the requirement to provide odometry or other information. In addition, an efficient path is sought to reach target location. An inherent property of this is obstacle avoidance. The simulated experiments presented in the paper validate the effectiveness of our approach.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114448300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fast Estimation of Aggregates in Unstructured Networks","authors":"Carlos Baquero, Paulo Sérgio Almeida, R. Menezes","doi":"10.1109/ICAS.2009.31","DOIUrl":"https://doi.org/10.1109/ICAS.2009.31","url":null,"abstract":"Aggregation of data values plays an important role on distributed computations, in particular over peer-to-peer and sensor networks, as it can provide a summary of some global system property and direct the actions of self-adaptive distributed algorithms. Examples include using estimates of the network size to dimension distributed hash tables or estimates of the average system load to direct load-balancing. Distributed aggregation using non-idempotent functions, like sums, is not trivial as it is not easy to prevent a given value from being accounted for multiple times; this is especially the case if no centralized algorithms or global identifiers can be used. This paper introduces Extrema Propagation, a probabilistic technique for distributed estimation of the sum of positive real numbers. The technique relies on the exchange of duplicate insensitive messages and can be applied in flood and/or epidemic settings, where multi-path routing occurs; it is tolerant of message loss; it is fast, as the number of message exchange steps equals the diameter; and it is fully distributed, with no single point of failure and the result produced at every node.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115576686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Pantelous, A. D. Karageorgos, G. Kalogeropoulos
{"title":"Transferring Instantly the State of a Linear Singular Descriptor Differential System","authors":"A. Pantelous, A. D. Karageorgos, G. Kalogeropoulos","doi":"10.1109/ICAS.2009.10","DOIUrl":"https://doi.org/10.1109/ICAS.2009.10","url":null,"abstract":"In numerous computational applications in mechanics, in engineering, as well as, in financial issues, the ability of manipulating instantly the state vector from the input is more than significant. Thus, in this paper, we extend a method for the instantly state transferring of linear singular descriptor differential systems, which is based on impulsive distributions. Using linear algebra techniques and the generalized inverse theory, the input’s coefficients are determined.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121516767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ada Casanovas, Javier Alonso, J. Torres, A. Andrzejak
{"title":"Work in Progress: Building a Distributed Generic Stress Tool for Server Performance and Behavior Analysis","authors":"Ada Casanovas, Javier Alonso, J. Torres, A. Andrzejak","doi":"10.1109/ICAS.2009.53","DOIUrl":"https://doi.org/10.1109/ICAS.2009.53","url":null,"abstract":"One of the primary tools for performance analysis of multi-tier systems are standardized benchmarks. They are used to evaluate system behavior under different circumstances to assess whether a system can handle real workloads in a production environment. Such benchmarks are also helpful to resolve situations when a system has an unacceptable performance or even crashes. System administrators and developers use these tools for reproducing and analyzing circumstances which provoke the errors or performance degradation. However, standardized benchmarks are usually constrained to simulating a set of pre-fixed workload distributions. We present a benchmarking framework which overcomes this limitation by generating real workloads from pre-recorded system traces. This distributed tool allows more realistic testing scenarios, and thus exposes the behavior and limits of a tested system with more details. Further advantage of our framework is its flexibility. For example, it can be used to extend standardized benchmarks like TPC-W thus allowing them to incorporate workload distributions derived from real workloads.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126617661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Survey of Frameworks, Architectures and Techniques in Autonomic Computing","authors":"Amina Khalid, MO Haye, M. Khan, S. Shamail","doi":"10.1109/ICAS.2009.38","DOIUrl":"https://doi.org/10.1109/ICAS.2009.38","url":null,"abstract":"A variety of frameworks, architectures and techniques have been proposed and used in the field of autonomic computing for self-management. There are also many applications and systems available that exhibit autonomic behavior. However all techniques and applications do not explicitly use autonomic or self-* terminologies to describe their autonomic characteristics. In this survey paper, a review of existing autonomic frameworks, architectures and self-management techniques is presented. It gives a panoramic picture of the researchfields of autonomic computing. Further analysis is done to categorize the surveyed frameworks, architectures, infrastructures and techniques.","PeriodicalId":258907,"journal":{"name":"2009 Fifth International Conference on Autonomic and Autonomous Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128413207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}