2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC)最新文献_第5页

The Colored Refresh Server for DRAM DRAM的彩色刷新服务器

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-05-01 DOI: 10.1109/ISORC.2019.00015

Xing Pan, F. Mueller

引用次数: 3

Optimal Scheduling of Precedence-constrained Task Graphs on Heterogeneous Distributed Systems with Shared Buses 基于共享总线的异构分布式系统优先级约束任务图的最优调度

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-05-01 DOI: 10.1109/ISORC.2019.00042

S. Roy, R. Devaraj, A. Sarkar, Sayani Sinha, Kankana Maji

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引用次数: 6

DeepNNCar: A Testbed for Deploying and Testing Middleware Frameworks for Autonomous Robots DeepNNCar:用于部署和测试自主机器人中间件框架的测试平台

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-05-01 DOI: 10.1109/ISORC.2019.00025

Matthew P. Burruss, Shreyas Ramakrishna, G. Karsai, A. Dubey

引用次数: 1

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) ISORC 2019 2019 IEEE第22届实时分布式计算国际研讨会(ISORC)

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-05-01 DOI: 10.1109/isorc.2019.00004

D. B. D. Oliveira, R. S. Oliveira, Wensheng Niu

引用次数: 0

On the Design of Fault- Tolerance in a Decentralized Software Platform for Power Systems 分布式电力系统软件平台容错设计研究

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-05-01 DOI: 10.1109/ISORC.2019.00018

Purboday Ghosh, Scott Eisele, A. Dubey, Mary Metelko, I. Madari, P. Völgyesi, G. Karsai

引用次数: 8

Towards a Realistic Simulation Framework for Vehicular Platooning Applications 面向车辆队列行驶应用的仿真框架

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-04-05 DOI: 10.1109/ISORC.2019.00028

Bruno Vieira, Ricardo Severino, A. Koubâa, E. Tovar

引用次数: 8

Augmenting Learning Components for Safety in Resource Constrained Autonomous Robots 资源约束下自主机器人安全的增强学习组件

2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC) Pub Date : 2019-02-06 DOI: 10.1109/ISORC.2019.00032

Shreyas Ramakrishna, A. Dubey, Matthew P. Burruss, Charles Hartsell, N. Mahadevan, S. Nannapaneni, Aron Laszka, G. Karsai

{"title":"Augmenting Learning Components for Safety in Resource Constrained Autonomous Robots","authors":"Shreyas Ramakrishna, A. Dubey, Matthew P. Burruss, Charles Hartsell, N. Mahadevan, S. Nannapaneni, Aron Laszka, G. Karsai","doi":"10.1109/ISORC.2019.00032","DOIUrl":"https://doi.org/10.1109/ISORC.2019.00032","url":null,"abstract":"Learning enabled components (LECs) trained using data-driven algorithms are increasingly being used in autonomous robots commonly found in factories, hospitals, and educational laboratories. However, these LECs do not provide any safety guarantees, and testing them is challenging. In this paper, we introduce a framework that performs weighted simplex strategy based supervised safety control, resource management and confidence estimation of autonomous robots. Specifically, we describe two weighted simplex strategies: (a) simple weighted simplex strategy (SW-Simplex) that computes a weighted controller output by comparing the decisions between a safety supervisor and an LEC, and (b) a context-sensitive weighted simplex strategy (CSW-Simplex) that computes a context-aware weighted controller output. We use reinforcement learning to learn the contextual weights. We also introduce a system monitor that uses the current state information and a Bayesian network model learned from past data to estimate the probability of the robotic system staying in the safe working region. To aid resource constrained robots in performing complex computations of these weighted simplex strategies, we describe a resource manager that offloads tasks to an available fog nodes. The paper also describes a hardware testbed called DeepNNCar, which is a low cost resource-constrained RC car, built to perform autonomous driving. Using the hardware, we show that both SW-Simplex and CSW-Simplex have 40% and 60% fewer safety violations, while demonstrating higher optimized speed during indoor driving (~ 0.40 m/s) than the original system (using only LECs).","PeriodicalId":425290,"journal":{"name":"2019 IEEE 22nd International Symposium on Real-Time Distributed Computing (ISORC)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121394575","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}

引用次数: 8