Navite: A Neural Network System For Sensory-Based Robot Navigation

A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process.

An Energy-conscious Transport Protocol for Multi-hop Wireless Networks

We present a transport protocol whose goal is to reduce power consumption without compromising delivery requirements of applications. To meet its goal of energy efficiency, our transport protocol (1) contains mechanisms to balance end-to-end vs. local retransmissions; (2) minimizes acknowledgment traffic using receiver regulated rate-based flow control combined with selected acknowledgements and in-network caching of packets; and (3) aggressively seeks to avoid any congestion-based packet loss. Within a recently developed ultra low-power multi-hop wireless network system, extensive simulations and experimental results demonstrate that our transport protocol meets its goal of preserving the energy efficiency of the underlying network.

JTP: An Energy-conscious Transport Protocol for Wireless Ad Hoc Networks

Within a recently developed low-power ad hoc network system, we present a transport protocol (JTP) whose goal is to reduce power consumption without trading off delivery requirements of applications. JTP has the following features: it is lightweight whereby end-nodes control in-network actions by encoding delivery requirements in packet headers; JTP enables applications to specify a range of reliability requirements, thus allocating the right energy budget to packets; JTP minimizes feedback control traffic from the destination by varying its frequency based on delivery requirements and stability of the network; JTP minimizes energy consumption by implementing in-network caching and increasing the chances that data retransmission requests from destinations "hit" these caches, thus avoiding costly source retransmissions; and JTP fairly allocates bandwidth among flows by backing off the sending rate of a source to account for in-network retransmissions on its behalf. Analysis and extensive simulations demonstrate the energy gains of JTP over one-size-fits-all transport protocols.

Default ARTMAP

The default ARTMAP algorithm and its parameter values specified here define a ready-to-use general-purpose neural network system for supervised learning and recognition.

Default ARTMAP 2

Default ARTMAP combines winner-take-all category node activation during training , distributed activation during testing, and a set of default parameter values that define a ready-to-use, general-purpose neural network system for supervised learning and recognition. Winner-take-all ARTMAP learning is designed so that each input would make a correct prediction if re-presented immediately after its training presentation, passing the "next-input test." Distributed activation has been shown to improve test set prediction on many examples, but an input that made a correct winner-take-all prediction during training could make a different prediction with distributed activation. Default ARTMAP 2 introduces a distributed next-input test during training. On a number of benchmarks, this additional feature of the default system increases accuracy without significantly decreasing code compression. This paper includes a self-contained default ARTMAP 2 algorithm for implementation.

An Implementation of Mermera: A Shared Memory System that Mixes Coherence with Non-coherence

Coherent shared memory is a convenient, but inefficient, method of inter-process communication for parallel programs. By contrast, message passing can be less convenient, but more efficient. To get the benefits of both models, several non-coherent memory behaviors have recently been proposed in the literature. We present an implementation of Mermera, a shared memory system that supports both coherent and non-coherent behaviors in a manner that enables programmers to mix multiple behaviors in the same program[HS93]. A programmer can debug a Mermera program using coherent memory, and then improve its performance by selectively reducing the level of coherence in the parts that are critical to performance. Mermera permits a trade-off of coherence for performance. We analyze this trade-off through measurements of our implementation, and by an example that illustrates the style of programming needed to exploit non-coherence. We find that, even on a small network of workstations, the performance advantage of non-coherence is compelling. Raw non-coherent memory operations perform 20-40~times better than non-coherent memory operations. An example application program is shown to run 5-11~times faster when permitted to exploit non-coherence. We conclude by commenting on our use of the Isis Toolkit of multicast protocols in implementing Mermera.

Using Warp to Control Network Contention in Mermera

Parallel computing on a network of workstations can saturate the communication network, leading to excessive message delays and consequently poor application performance. We examine empirically the consequences of integrating a flow control protocol, called Warp control [Par93], into Mermera, a software shared memory system that supports parallel computing on distributed systems [HS93]. For an asynchronous iterative program that solves a system of linear equations, our measurements show that Warp succeeds in stabilizing the network's behavior even under high levels of contention. As a result, the application achieves a higher effective communication throughput, and a reduced completion time. In some cases, however, Warp control does not achieve the performance attainable by fixed size buffering when using a statically optimal buffer size. Our use of Warp to regulate the allocation of network bandwidth emphasizes the possibility for integrating it with the allocation of other resources, such as CPU cycles and disk bandwidth, so as to optimize overall system throughput, and enable fully-shared execution of parallel programs.

AIDA-Based Distributed File System

This paper describes a prototype implementation of a Distributed File System (DFS) based on the Adaptive Information Dispersal Algorithm (AIDA). Using AIDA, a file block is encoded and dispersed into smaller blocks stored on a number of DFS nodes distributed over a network. The implementation devises file creation, read, and write operations. In particular, when reading a file, the DFS accepts an optional timing constraint, which it uses to determine the level of redundancy needed for the read operation. The tighter the timing constraint, the more nodes in the DFS are queried for encoded blocks. Write operations update all blocks in all DFS nodes--with future implementations possibly including the use of read and write quorums. This work was conducted under the supervision of Professor Azer Bestavros (best@cs.bu.edu) in the Computer Science Department as part of Mohammad Makarechian's Master's project.

Examples of Network Flow Verification Using TRAFFIC(X)

In our previous work, we developed TRAFFIC(X), a specification language for modeling bi-directional network flows featuring a type system with constrained polymorphism. In this paper, we present two ways to customize the constraint system: (1) when using linear inequality constraints for the constraint system, TRAFFIC(X) can describe flows with numeric properties such as MTU (maximum transmission unit), RTT (round trip time), traversal order, and bandwidth allocation over parallel paths; (2) when using Boolean predicate constraints for the constraint system, TRAFFIC(X) can describe routing policies of an IP network. These examples illustrate how to use the customized type system.

Small-World Internet Topologies: Possible Causes and Implications on Scalability of End-System Multicast

Recent work has shown the prevalence of small-world phenomena [28] in many networks. Small-world graphs exhibit a high degree of clustering, yet have typically short path lengths between arbitrary vertices. Internet AS-level graphs have been shown to exhibit small-world behaviors [9]. In this paper, we show that both Internet AS-level and router-level graphs exhibit small-world behavior. We attribute such behavior to two possible causes–namely the high variability of vertex degree distributions (which were found to follow approximately a power law [15]) and the preference of vertices to have local connections. We show that both factors contribute with different relative degrees to the small-world behavior of AS-level and router-level topologies. Our findings underscore the inefficacy of the Barabasi-Albert model [6] in explaining the growth process of the Internet, and provide a basis for more promising approaches to the development of Internet topology generators. We present such a generator and show the resemblance of the synthetic graphs it generates to real Internet AS-level and router-level graphs. Using these graphs, we have examined how small-world behaviors affect the scalability of end-system multicast. Our findings indicate that lower variability of vertex degree and stronger preference for local connectivity in small-world graphs results in slower network neighborhood expansion, and in longer average path length between two arbitrary vertices, which in turn results in better scaling of end system multicast.

Validating Arbitrarily Large Network Protocol Compositions with Finite Computation

Formal tools like finite-state model checkers have proven useful in verifying the correctness of systems of bounded size and for hardening single system components against arbitrary inputs. However, conventional applications of these techniques are not well suited to characterizing emergent behaviors of large compositions of processes. In this paper, we present a methodology by which arbitrarily large compositions of components can, if sufficient conditions are proven concerning properties of small compositions, be modeled and completely verified by performing formal verifications upon only a finite set of compositions. The sufficient conditions take the form of reductions, which are claims that particular sequences of components will be causally indistinguishable from other shorter sequences of components. We show how this methodology can be applied to a variety of network protocol applications, including two features of the HTTP protocol, a simple active networking applet, and a proposed web cache consistency algorithm. We also doing discuss its applicability to framing protocol design goals and to representing systems which employ non-model-checking verification methodologies. Finally, we briefly discuss how we hope to broaden this methodology to more general topological compositions of network applications.

The EGOIST Overlay Routing System

A foundational issue underlying many overlay network applications ranging from routing to peer-to-peer file sharing is that of connectivity management, i.e., folding new arrivals into an existing overlay, and rewiring to cope with changing network conditions. Previous work has considered the problem from two perspectives: devising practical heuristics for specific applications designed to work well in real deployments, and providing abstractions for the underlying problem that are analytically tractable, especially via game-theoretic analysis. In this paper, we unify these two thrusts by using insights gleaned from novel, realistic theoretic models in the design of Egoist – a distributed overlay routing system that we implemented, deployed, and evaluated on PlanetLab. Using extensive measurements of paths between nodes, we demonstrate that Egoist’s neighbor selection primitives significantly outperform existing heuristics on a variety of performance metrics, including delay, available bandwidth, and node utilization. Moreover, we demonstrate that Egoist is competitive with an optimal, but unscalable full-mesh approach, remains highly effective under significant churn, is robust to cheating, and incurs minimal overhead. Finally, we use a multiplayer peer-to-peer game to demonstrate the value of Egoist to end-user applications. This technical report supersedes BUCS-TR-2007-013.

The Sensor Network Workbench: Towards Functional Specification, Verification and Deployment of Constrained Distributed Systems

As the commoditization of sensing, actuation and communication hardware increases, so does the potential for dynamically tasked sense and respond networked systems (i.e., Sensor Networks or SNs) to replace existing disjoint and inflexible special-purpose deployments (closed-circuit security video, anti-theft sensors, etc.). While various solutions have emerged to many individual SN-centric challenges (e.g., power management, communication protocols, role assignment), perhaps the largest remaining obstacle to widespread SN deployment is that those who wish to deploy, utilize, and maintain a programmable Sensor Network lack the programming and systems expertise to do so. The contributions of this thesis centers on the design, development and deployment of the SN Workbench (snBench). snBench embodies an accessible, modular programming platform coupled with a flexible and extensible run-time system that, together, support the entire life-cycle of distributed sensory services. As it is impossible to find a one-size-fits-all programming interface, this work advocates the use of tiered layers of abstraction that enable a variety of high-level, domain specific languages to be compiled to a common (thin-waist) tasking language; this common tasking language is statically verified and can be subsequently re-translated, if needed, for execution on a wide variety of hardware platforms. snBench provides: (1) a common sensory tasking language (Instruction Set Architecture) powerful enough to express complex SN services, yet simple enough to be executed by highly constrained resources with soft, real-time constraints, (2) a prototype high-level language (and corresponding compiler) to illustrate the utility of the common tasking language and the tiered programming approach in this domain, (3) an execution environment and a run-time support infrastructure that abstract a collection of heterogeneous resources into a single virtual Sensor Network, tasked via this common tasking language, and (4) novel formal methods (i.e., static analysis techniques) that verify safety properties and infer implicit resource constraints to facilitate resource allocation for new services. This thesis presents these components in detail, as well as two specific case-studies: the use of snBench to integrate physical and wireless network security, and the use of snBench as the foundation for semester-long student projects in a graduate-level Software Engineering course.

Overlay Network Creation and Maintenance with Selfish Users

Overlay networks have been used for adding and enhancing functionality to the end-users without requiring modifications in the Internet core mechanisms. Overlay networks have been used for a variety of popular applications including routing, file sharing, content distribution, and server deployment. Previous work has focused on devising practical neighbor selection heuristics under the assumption that users conform to a specific wiring protocol. This is not a valid assumption in highly decentralized systems like overlay networks. Overlay users may act selfishly and deviate from the default wiring protocols by utilizing knowledge they have about the network when selecting neighbors to improve the performance they receive from the overlay. This thesis goes against the conventional thinking that overlay users conform to a specific protocol. The contributions of this thesis are threefold. It provides a systematic evaluation of the design space of selfish neighbor selection strategies in real overlays, evaluates the performance of overlay networks that consist of users that select their neighbors selfishly, and examines the implications of selfish neighbor and server selection to overlay protocol design and service provisioning respectively. This thesis develops a game-theoretic framework that provides a unified approach to modeling Selfish Neighbor Selection (SNS) wiring procedures on behalf of selfish users. The model is general, and takes into consideration costs reflecting network latency and user preference profiles, the inherent directionality in overlay maintenance protocols, and connectivity constraints imposed on the system designer. Within this framework the notion of user’s "best response" wiring strategy is formalized as a k-median problem on asymmetric distance and is used to obtain overlay structures in which no node can re-wire to improve the performance it receives from the overlay. Evaluation results presented in this thesis indicate that selfish users can reap substantial performance benefits when connecting to overlay networks composed of non-selfish users. In addition, in overlays that are dominated by selfish users, the resulting stable wirings are optimized to such great extent that even non-selfish newcomers can extract near-optimal performance through naïve wiring strategies. To capitalize on the performance advantages of optimal neighbor selection strategies and the emergent global wirings that result, this thesis presents EGOIST: an SNS-inspired overlay network creation and maintenance routing system. Through an extensive measurement study on the deployed prototype, results presented in this thesis show that EGOIST’s neighbor selection primitives outperform existing heuristics on a variety of performance metrics, including delay, available bandwidth, and node utilization. Moreover, these results demonstrate that EGOIST is competitive with an optimal but unscalable full-mesh approach, remains highly effective under significant churn, is robust to cheating, and incurs minimal overheads. This thesis also studies selfish neighbor selection strategies for swarming applications. The main focus is on n-way broadcast applications where each of n overlay user wants to push its own distinct file to all other destinations as well as download their respective data files. Results presented in this thesis demonstrate that the performance of our swarming protocol for n-way broadcast on top of overlays of selfish users is far superior than the performance on top of existing overlays. In the context of service provisioning, this thesis examines the use of distributed approaches that enable a provider to determine the number and location of servers for optimal delivery of content or services to its selfish end-users. To leverage recent advances in virtualization technologies, this thesis develops and evaluates a distributed protocol to migrate servers based on end-users demand and only on local topological knowledge. Results under a range of network topologies and workloads suggest that the performance of the distributed deployment is comparable to that of the optimal but unscalable centralized deployment.

Trade & Cap: A Customer-Managed, Market-Based System for Trading Bandwidth Allowances at a Shared Link

We propose Trade & Cap (T&C), an economics-inspired mechanism that incentivizes users to voluntarily coordinate their consumption of the bandwidth of a shared resource (e.g., a DSLAM link) so as to converge on what they perceive to be an equitable allocation, while ensuring efficient resource utilization. Under T&C, rather than acting as an arbiter, an Internet Service Provider (ISP) acts as an enforcer of what the community of rational users sharing the resource decides is a fair allocation of that resource. Our T&C mechanism proceeds in two phases. In the first, software agents acting on behalf of users engage in a strategic trading game in which each user agent selfishly chooses bandwidth slots to reserve in support of primary, interactive network usage activities. In the second phase, each user is allowed to acquire additional bandwidth slots in support of presumed open-ended need for fluid bandwidth, catering to secondary applications. The acquisition of this fluid bandwidth is subject to the remaining "buying power" of each user and by prevalent "market prices" – both of which are determined by the results of the trading phase and a desirable aggregate cap on link utilization. We present analytical results that establish the underpinnings of our T&C mechanism, including game-theoretic results pertaining to the trading phase, and pricing of fluid bandwidth allocation pertaining to the capping phase. Using real network traces, we present extensive experimental results that demonstrate the benefits of our scheme, which we also show to be practical by highlighting the salient features of an efficient implementation architecture.