Matching Items (71)
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- All Subjects: Computer Science
- Creators: Fainekos, Georgios
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Debugging is a boring, tedious, time consuming but inevitable step of software development and debugging multiple threaded applications with user interactions is even more complicated. Since concurrency and synchronism are normal features in Android mobile applications, the order of thread execution may vary in every run even with the same input. To make things worse, the target erroneous cases may happen just in a few specific runs. Besides, the randomness of user interactions makes the whole debugging procedure more unpredictable. Thus, debugging a multiple threaded application is a tough and challenging task. This thesis introduces a replay mechanism for debugging user interactive multiple threaded Android applications. The approach is based on the 'Lamport Clock' concept, 'Event Driven' implementation and 'Client-Server' architecture. The debugger tool described in this thesis provides a user controlled debugging environment where users or developers are allowed to use modified record application to generate a log file. During the record time, all the necessary events like thread creation, synchronization and user input are recorded. Therefore, based on the information contained in the generated log files, the debugger tool can replay the application off-line since log files provide the deterministic order of execution. In this case, user or developers can replay an application as many times as they need to pinpoint the errors in the applications.
ContributorsLu, He (Author) / Lee, Yann-Hang (Thesis advisor) / Fainekos, Georgios (Committee member) / Chen, Yinong (Committee member) / Arizona State University (Publisher)
Created2012
Description
Majority of the Sensor networks consist of low-cost autonomously powered devices, and are used to collect data in physical world. Today's sensor network deployments are mostly application specific & owned by a particular entity. Because of this application specific nature & the ownership boundaries, this modus operandi hinders large scale sensing & overall network operational capacity. The main goal of this research work is to create a mechanism to dynamically form personal area networks based on mote class devices spanning ownership boundaries. When coupled with an overlay based control system, this architecture can be conveniently used by a remote client to dynamically create sensor networks (personal area network based) even when the client does not own a network. The nodes here are "borrowed" from existing host networks & the application related to the newly formed network will co-exist with the native applications thanks to concurrency. The result allows users to embed a single collection tree onto spatially distant networks as if they were within communication range. This implementation consists of core operating system & various other external components that support injection maintenance & dissolution sensor network applications at client's request. A large object data dissemination protocol was designed for reliable application injection. The ability of this system to remotely reconfigure a network is useful given the high failure rate of real-world sensor network deployments. Collaborative sensing, various physical phenomenon monitoring also be considered as applications of this architecture.
ContributorsFernando, M. S. R (Author) / Dasgupta, Partha (Thesis advisor) / Bhattacharya, Amiya (Thesis advisor) / Gupta, Sandeep (Committee member) / Arizona State University (Publisher)
Created2013
Description
Process migration is a heavily studied research area and has a number of applications in distributed systems. Process migration means transferring a process running on one machine to another such that it resumes execution from the point at which it was suspended. The conventional approach to implement process migration is to move the entire state information of the process (including hardware context, virtual memory, files etc.) from one machine to another. Copying all the state information is costly. This thesis proposes and demonstrates a new approach of migrating a process between two cores of Intel Single Chip Cloud (SCC), an experimental 48-core processor by Intel, with each core running a separate instance of the operating system. In this method the amount of process state to be transferred from one core's memory to another is reduced by making use of special registers called Lookup tables (LUTs) present on each core of SCC. Thus this new approach is faster than the conventional method.
ContributorsJain, Vaibhav (Author) / Dasgupta, Partha (Thesis advisor) / Shriavstava, Aviral (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2013
Description
Critical infrastructures in healthcare, power systems, and web services, incorporate cyber-physical systems (CPSes), where the software controlled computing systems interact with the physical environment through actuation and monitoring. Ensuring software safety in CPSes, to avoid hazards to property and human life as a result of un-controlled interactions, is essential and challenging. The principal hurdle in this regard is the characterization of the context driven interactions between software and the physical environment (cyber-physical interactions), which introduce multi-dimensional dynamics in space and time, complex non-linearities, and non-trivial aggregation of interaction in case of networked operations. Traditionally, CPS software is tested for safety either through experimental trials, which can be expensive, incomprehensive, and hazardous, or through static analysis of code, which ignore the cyber-physical interactions. This thesis considers model based engineering, a paradigm widely used in different disciplines of engineering, for safety verification of CPS software and contributes to three fundamental phases: a) modeling, building abstractions or models that characterize cyberphysical interactions in a mathematical framework, b) analysis, reasoning about safety based on properties of the model, and c) synthesis, implementing models on standard testbeds for performing preliminary experimental trials. In this regard, CPS modeling techniques are proposed that can accurately capture the context driven spatio-temporal aggregate cyber-physical interactions. Different levels of abstractions are considered, which result in high level architectural models, or more detailed formal behavioral models of CPSes. The outcomes include, a well defined architectural specification framework called CPS-DAS and a novel spatio-temporal formal model called Spatio-Temporal Hybrid Automata (STHA) for CPSes. Model analysis techniques are proposed for the CPS models, which can simulate the effects of dynamic context changes on non-linear spatio-temporal cyberphysical interactions, and characterize aggregate effects. The outcomes include tractable algorithms for simulation analysis and for theoretically proving safety properties of CPS software. Lastly a software synthesis technique is proposed that can automatically convert high level architectural models of CPSes in the healthcare domain into implementations in high level programming languages. The outcome is a tool called Health-Dev that can synthesize software implementations of CPS models in healthcare for experimental verification of safety properties.
ContributorsBanerjee, Ayan (Author) / Gupta, Sandeep K.S. (Thesis advisor) / Poovendran, Radha (Committee member) / Fainekos, Georgios (Committee member) / Maciejewski, Ross (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis addresses the ever increasing threat of botnets in the smartphone domain and focuses on the Android platform and the botnets using Online Social Networks (OSNs) as Command and Control (C&C;) medium. With any botnet, C&C; is one of the components on which the survival of botnet depends. Individual bots use the C&C; channel to receive commands and send the data. This thesis develops active host based approach for identifying the presence of bot based on the anomalies in the usage patterns of the user before and after the bot is installed on the user smartphone and alerting the user to the presence of the bot. A profile is constructed for each user based on the regular web usage patterns (achieved by intercepting the http(s) traffic) and implementing machine learning techniques to continuously learn the user's behavior and changes in the behavior and all the while looking for any anomalies in the user behavior above a threshold which will cause the user to be notified of the anomalous traffic. A prototype bot which uses OSN s as C&C; channel is constructed and used for testing. Users are given smartphones(Nexus 4 and Galaxy Nexus) running Application proxy which intercepts http(s) traffic and relay it to a server which uses the traffic and constructs the model for a particular user and look for any signs of anomalies. This approach lays the groundwork for the future host-based counter measures for smartphone botnets using OSN s as C&C; channel.
ContributorsKilari, Vishnu Teja (Author) / Xue, Guoliang (Thesis advisor) / Ahn, Gail-Joon (Committee member) / Dasgupta, Partha (Committee member) / Arizona State University (Publisher)
Created2013
Description
Limited Local Memory (LLM) multicore architectures are promising powerefficient architectures will scalable memory hierarchy. In LLM multicores, each core can access only a small local memory. Accesses to a large shared global memory can only be made explicitly through Direct Memory Access (DMA) operations. Standard Template Library (STL) is a powerful programming tool and is widely used for software development. STLs provide dynamic data structures, algorithms, and iterators for vector, deque (double-ended queue), list, map (red-black tree), etc. Since the size of the local memory is limited in the cores of the LLM architecture, and data transfer is not automatically supported by hardware cache or OS, the usage of current STL implementation on LLM multicores is limited. Specifically, there is a hard limitation on the amount of data they can handle. In this article, we propose and implement a framework which manages the STL container classes on the local memory of LLM multicore architecture. Our proposal removes the data size limitation of the STL, and therefore improves the programmability on LLM multicore architectures with little change to the original program. Our implementation results in only about 12%-17% increase in static library code size and reasonable runtime overheads.
ContributorsLu, Di (Author) / Shrivastava, Aviral (Thesis advisor) / Chatha, Karamvir (Committee member) / Dasgupta, Partha (Committee member) / Arizona State University (Publisher)
Created2012
Description
The overall contribution of the Minerva Initiative at ASU is to map social organizations in a multidimensional space that provides a measure of their radical or counter radical influence over the demographics of a nation. This tool serves as a simple content management system to store and track project resources like documents, images, videos and web links. It provides centralized and secure access to email conversations among project team members. Conversations are categorized into one of the seven pre-defined categories. Each category is associated with a certain set of keywords and we follow a frequency based approach for matching email conversations with the categories. The interface is hosted as a web application which can be accessed by the project team.
ContributorsNair, Apurva Aravindakshan (Author) / Davulcu, Hasan (Thesis advisor) / Sen, Arunabha (Committee member) / Dasgupta, Partha (Committee member) / Arizona State University (Publisher)
Created2012
Description
The Open Services Gateway initiative (OSGi) framework is a standard of module system and service platform that implements a complete and dynamic component model. Currently most of OSGi implementations are implemented by Java, which has similarities of Android language. With the emergence of Android operating system, due to the similarities between Java and Android, the integration of module system and service platform from OSGi to Android system attracts more and more attention. How to make OSGi run in Android is a hot topic, further, how to find a mechanism to enable communication between OSGi and Android system is a more advanced area than simply making OSGi running in Android. This paper, which aimed to fulfill SOA (Service Oriented Architecture) and CBA (Component Based Architecture), proposed a solution on integrating Felix OSGi platform with Android system in order to build up Distributed OSGi framework between mobile phones upon XMPP protocol. And in this paper, it not only successfully makes OSGi run on Android, but also invents a mechanism that makes a seamless collaboration between these two platforms.
ContributorsDong, Xinyi (Author) / Huang, Dijiang (Thesis advisor) / Dasgupta, Partha (Committee member) / Chen, Yinong (Committee member) / Arizona State University (Publisher)
Created2012
Description
Access control is one of the most fundamental security mechanisms used in the design and management of modern information systems. However, there still exists an open question on how formal access control models can be automatically analyzed and fully realized in secure system development. Furthermore, specifying and managing access control policies are often error-prone due to the lack of effective analysis mechanisms and tools. In this dissertation, I present an Assurance Management Framework (AMF) that is designed to cope with various assurance management requirements from both access control system development and policy-based computing. On one hand, the AMF framework facilitates comprehensive analysis and thorough realization of formal access control models in secure system development. I demonstrate how this method can be applied to build role-based access control systems by adopting the NIST/ANSI RBAC standard as an underlying security model. On the other hand, the AMF framework ensures the correctness of access control policies in policy-based computing through automated reasoning techniques and anomaly management mechanisms. A systematic method is presented to formulate XACML in Answer Set Programming (ASP) that allows users to leverage off-the-shelf ASP solvers for a variety of analysis services. In addition, I introduce a novel anomaly management mechanism, along with a grid-based visualization approach, which enables systematic and effective detection and resolution of policy anomalies. I further evaluate the AMF framework through modeling and analyzing multiparty access control in Online Social Networks (OSNs). A MultiParty Access Control (MPAC) model is formulated to capture the essence of multiparty authorization requirements in OSNs. In particular, I show how AMF can be applied to OSNs for identifying and resolving privacy conflicts, and representing and reasoning about MPAC model and policy. To demonstrate the feasibility of the proposed methodology, a suite of proof-of-concept prototype systems is implemented as well.
ContributorsHu, Hongxin (Author) / Ahn, Gail-Joon (Thesis advisor) / Yau, Stephen S. (Committee member) / Dasgupta, Partha (Committee member) / Ye, Nong (Committee member) / Arizona State University (Publisher)
Created2012