1. What Do Robots and Operating Systems Have to Do with Each Other?
Eduardo Pinheiro
CSC 400 Talk Presentation
December

2. Motivation Find an excuse to work in both areas Why?
Because they are both interesting
Why are they interesting?
December 10, 1999
CSC 400 Talk

3. Motivation
Robotics: challenge to make unreliable components work in a reliable way
OS: make components work “smarter/faster” so we can make robots (and other things) work more reliably
Both: Science benefit
OS Extra: Something I think I know
December 10, 1999
CSC 400 Talk

4. Outline Past Work Nomad CSC 400 Project Future Work Conclusion
December 10, 1999
CSC 400 Talk

5. Past Work Simple Short-Term Warm-up Exercises Unfinished Projects
Distributed Chat Server
Distributed Game Server (“Sticks”)
3-D Graphical World
Cryptography System
Unfinished Projects
Many (BBS server, Games, Etc)
December 10, 1999
CSC 400 Talk

6. Past Work Final Senior Project ACNE Operating System
Subset of a UNIX-like OS
Device Drivers
File System
Scheduling (with preemption)
Multithreaded Micro Kernel
Memory Management
December 10, 1999
CSC 400 Talk

7. Distributed OS for clusters of workstations
Efficient dynamic & static load balancing
Special forms of scheduling
Considers multiprocessors
Parallel file system
Fault tolerance
Backward compatible with Linux and Digital Unix
Scalable
Overall good performance
December 10, 1999
CSC 400 Talk

8. Nomad Single image: user “feels” one powerful computer
Smart startup of applications
Load balance by process migration
Remote signals
Display redirection
Load includes CPU usage, memory consumption, paging, swapping and I/O requests
December 10, 1999
CSC 400 Talk

9. Nomad:Architecture ... Applications Daemons Base OS + New API
December 10, 1999
CSC 400 Talk

10. Parallel file system: EPFS
Nomad
Parallel file system: EPFS
Based on Galley [PC97]
Added redundancy  fault tolerant
On-line recovery from failure (at most one)
Dissemination of information by piggybacking
Overall good performance
December 10, 1999
CSC 400 Talk

11. Nomad: File System Hash Function Block 1 Block 0 Parity 0 Block 2.
Block N
Hash
Function
File
Block 1
Block 0
Parity 0
Block 2
Fork 0
Block 3
Block 5
Block 4
Parity 1
Fork 1
Disk 0
Disk 1
Disk 2
Disk 3
December 10, 1999
CSC 400 Talk

12. Nomad:Results File System: Copy operation
Execution Time (seg)
Number of Clients
Centralized
Distributed 1
0,79
0,82 4
2,52
1,92 16
8,54
6,16 32
17,97
12,30
File System: Parallel application
Execution Time (seg)
Number of Clients
Centralized
Distributed 1
0,15
0,14 4
0,40
0,39 16
1,75
1,46 32
2,70
2,10
December 10, 1999
CSC 400 Talk

13. Nomad:Results Simulated Results Machine W/O Nomad With Nomad Reduction
Mig. In
Mig. Out
Atto
1.83
99.98% 10
Brain
0.00
0.10
----- 61
Gin
941.56
11.54
98.77% 21 30
Kilo
85.02
15.89
81.31% 29 34
Ripple
780.52
2.72
99.65% 24 32
Rum
2.86
99.80% 14 22
Rye
21.13
98.62% 28 37
Scotch
522.68
5.18
99.01% 45 49
Vodka
15.23
98.52% 38
Total
76.48
99.52%
252
December 10, 1999
CSC 400 Talk

14. 400 Project
December 10, 1999
CSC 400 Talk

15. 400 Project Goal: Robot guide itself in our building How?
Give it a map of the building
Probabilistically localize itself
Give it a goal: a (x,y,) position to go
Steer to goal avoiding collisions
December 10, 1999
CSC 400 Talk

16. 400 Project Map: Images of the ceiling How? Mosaic of many pictures
Tools:
Homography-based transformation
Manual stitching of images
Scanline camera
December 10, 1999
CSC 400 Talk

17. 400 Project Handmade mosaic (Photo Impact)
Homography-based transformation mosaic
December 10, 1999
CSC 400 Talk

18. Condensation algorithm for localization
400 Project
Condensation algorithm for localization
Picks a random set of possible positions in the map according to a probability distribution
December 10, 1999
CSC 400 Talk

19. Future Work Extend the robotic project by
Building a larger map and have to robot make turns, go through doors, find short paths, etc.
Find a common point of intersection between the two areas: robotics and systems
Automated backup?
OS for robots? Real-time issues?
Programming language/environment for robots?
(your idea here)
December 10, 1999
CSC 400 Talk

20. Conclusion Robotics is fun So is systems
There are useful applications to both
There might exist a nice point of intersection
I am seeking this point of intersection by learning more about robots while keeping up-to-date with operating systems
December 10, 1999
CSC 400 Talk