1. Resource Management for Robotic Applications ICESS-11 Changsha, China Nov.16-18 Yi-Zong Ou Department of Computer Science National Tsing-Hua University, Taiwan E. T.-H. Chu, Wen-Wei Lu, Jane W. S. Liu, Ta-Chih Hung, Jwu-Sheng Hu

2. Collage of Service & Social Robots 2

3. Commonalities Low cost Responsive and easy to use Short time to market Easy to configure and customize 3 Built from components on open platform Built from components on open platform

4. Difficulties Components are developed independently Their resource contention degrades responsiveness Our tools:  Without source code: RAAPT-HV Resource Allocation and Application Partition Tool  With source code: RC SS Robotic Class Scheduling Service 4

5. Scenario – Delivery Robot 5 Hi, Anderson!! Yes. Mr. Chen, may I help you? Go to library and get my book. Yes sir! Will go to library to get your book Video Surveillance Path Planning Got it! Face Detection Speech Recognition Go this way!

6. RAAPT-HV Performance Monitoring Partitions Management CPU Resource Determination Performance Tuning Microsoft Hyper-V Face Detection Response time : 88 ms CPU Reserve : 70% CPU Reserve (%) Response time (ms) 6 Partition A 2 CPUs 50% Reserve Partition A 2 CPUs 50% Reserve Partition B 1 CPU 20% Reserve Partition B 1 CPU 20% Reserve Partition C 2 CPUs 40% Reserve Partition C 2 CPUs 40% Reserve Partition D 1 CPU 10% Reserve Partition D 1 CPU 10% Reserve Partition A 2 CPUs 50% Reserve Partition A 2 CPUs 50% Reserve Partition B 1 CPU 20% Reserve Partition B 1 CPU 20% Reserve Partition C 2 CPUs 40% Reserve Partition C 2 CPUs 40% Reserve Partition A Partition B Partition C CPU Utilization 50%45%30%

7. Microsoft Hyper-V 7 Physical Hardware Microsoft Hyper-V (hypervisor) Windows Server 2008R2 VM worker process Windows XP Time Critical Components Normal Components We use Hyper-V for isolation and protection of performance critical components Parent Partition Child Partitions User Mode Kernel Mode

8. Resource Allocation 8 Processor Number of logical processor CPU reserve (%)CPU limit (%) Relative weight: 0~100

9. ` 9 Specify experiments parameters Initial and Connect Partitions Return Status Check status and Run experiments Issue the PartitionsAdjust Resources Executes CoIs Generate logs (.txt) Generate Config (.xml) Ask for SummaryRead Config and Logs Generate Summary (.xls) Ask for Plot Read Config. and Summary files Plot the charts on GUI Developers RAAPT-HV Partition APartition B Scenario - ComputeMinimumCPUReserve Execute ILPs

10. GUI - Determination of Required Bandwidth 10 0 200 400 600 800 10 20 30 40 50 60 70 80 90 100 Average response times of FDP (ms) VS percentage CPU reservation 88 ms, 70% Generate Summary Select Log files (.txt) : Select files Plot charts 3:24 PM : 10 log files have been selected. 3:24 PM : CMCPUR_001.xls is generated. Generate Summary Increase APT Decrease APT Options Set CPU reserve Do it again APT: CPU Reserve: Current Status 0 0 410 50 88 70

11. Functionalities for Performance Tuning Decrease the CPU resource usage by combing components in the same partition. Decrease the overhead of switching between partitions. Provide TunePerformanceToUseLessResource (TPTULR) to decrease the overall CPU usage 11 If Sum of all CPU reserve < 100% then exit; Else, do CombineComponents If it is successful, declare successful; exit; Else, declare “Unable to reduce total CPU reserve by combining CoIs”; exit;

12. ` 12 Input a list of CoIs Create and Initialize Partitions Sort CoIs Assign CoI-L to P1 Start ILPs on P2 ※ Assign CoI-NL to P1 Set reservation Run CoI-L and CoI-NL Developers RAAPT-HV Scenario - CombineComponents Partition 1Partition 2 Core CoI-LCoI-NL CPU Reserve: CR% = Reserve-L + Reserve-NL CPU Reserve: 100% - CR% PI-LPI-NL Compare PI-NL and PI- L to APTs respectively TryAgain Macro Update the list of CoIs, go to ※ If worse than APT APTs then do TryAgain macro else invoke CMCPUR Unsorted components list CoI-L CoI-NL Non-increasing order (according to performance criticality) CoI-LCoI-NL Non-increasing order CoI-NL ILPs CoI-NL:Next to CoI-L CoI-L: The Last CoI

13. Robotic Class Scheduler Service Prioritize components according to their timing requirements. Built on Microsoft Multi-Media Class Scheduler Service (MMC SS). Specify the component types rather than priority. Give higher boost to components with more stringent timing requirements. 13

14. Scenario of RC SS 14 Set Thread Priority Level to HIGH P = Normal Obstacle Avoidance P = Normal Motion Control P = Normal Speech Recognition Compete for CPU resource P = Normal Obstacle Avoidance P = HIGH Priority High Low Robotic Class Scheduler Service (RC SS) ObstacleAvoidnce, Localization MotionControl, ObjectIdentification SpeechRecognition Type of Tasks P = Normal Time Critical Component AvSetMmThreadCharacteristics(ObstacleAvoidance) Set Thread Priority Level to Normal AvRevertMmThreadCharacteristics()

15. Summary RAAPT-HV supports a semi-automatic iterative configuration and performance assessment and tuning process. RAAPT-HV offers a way to reduce the ill- effects of resource contention when source code is not available. RC SS offers the applications with the easiest and most light-weight mechanism for improved real-time performance with slight modification of source code. 15

16. Thank you 16