Ragunathan Rajkumar

Bio: Ragunathan Rajkumar is an academic researcher from Carnegie Mellon University. The author has contributed to research in topics: Scheduling (computing) & Wireless sensor network. The author has an hindex of 66, co-authored 264 publications receiving 19835 citations. Previous affiliations of Ragunathan Rajkumar include Software Engineering Institute & IBM.

Priority inheritance protocols: an approach to real-time synchronization

Abstract: An investigation is conducted of two protocols belonging to the priority inheritance protocols class; the two are called the basic priority inheritance protocol and the priority ceiling protocol. Both protocols solve the uncontrolled priority inversion problem. The priority ceiling protocol solves this uncontrolled priority inversion problem particularly well; it reduces the worst-case task-blocking time to at most the duration of execution of a single critical section of a lower-priority task. This protocol also prevents the formation of deadlocks. Sufficient conditions under which a set of periodic tasks using this protocol may be scheduled is derived. >

Cyber-physical systems: the next computing revolution

Abstract: Cyber-physical systems (CPS) are physical and engineered systems whose operations are monitored, coordinated, controlled and integrated by a computing and communication core. Just as the internet transformed how humans interact with one another, cyber-physical systems will transform how we interact with the physical world around us. Many grand challenges await in the economically vital domains of transportation, health-care, manufacturing, agriculture, energy, defense, aerospace and buildings. The design, construction and verification of cyber-physical systems pose a multitude of technical challenges that must be addressed by a cross-disciplinary community of researchers and educators.

Autonomous Driving in Urban Environments: Boss and the Urban Challenge.

Abstract: Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three-layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85-km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.

Autonomous driving in urban environments: Boss and the Urban Challenge

Abstract: Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three-layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85-km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.

A resource allocation model for QoS management

Abstract: Quality of service (QoS) has been receiving wide attention in many research communities including networking, multimedia systems, real-time systems and distributed systems. In large distributed systems such as those used in defense systems, on-demand service and inter-networked systems, applications contending for system resources must satisfy timing, reliability and security constraints as well as application-specific quality requirements. Allocating sufficient resources to different applications in order to satisfy various requirements is a fundamental problem in these situations. A basic yet flexible model for performance-driven resource allocations can therefore be useful in making appropriate tradeoffs. We present an analytical model for QoS management in systems which must satisfy application needs along multiple dimensions such as timeliness, reliable delivery schemes, cryptographic security and data quality. We refer to this model as Q-RAM (QoS-based Resource Allocation Model). The model assumes a system with multiple concurrent applications, each of which can operate at different levels of quality based on the system resources available to it. The goal of the model is to be able to allocate resources to the various applications such that the overall system utility is maximized under the constraint that each application can meet its minimum needs. We identify resource profiles of applications which allow such decisions to be made efficiently and in real-time. We also identify application utility functions along different dimensions which are composable to form unique application requirement profiles. We use a video-conferencing system to illustrate the model.

Xen and the art of virtualization

Abstract: Numerous systems have been designed which use virtualization to subdivide the ample resources of a modern computer. Some require specialized hardware, or cannot support commodity operating systems. Some target 100% binary compatibility at the expense of performance. Others sacrifice security or functionality for speed. Few offer resource isolation or performance guarantees; most provide only best-effort provisioning, risking denial of service.This paper presents Xen, an x86 virtual machine monitor which allows multiple commodity operating systems to share conventional hardware in a safe and resource managed fashion, but without sacrificing either performance or functionality. This is achieved by providing an idealized virtual machine abstraction to which operating systems such as Linux, BSD and Windows XP, can be ported with minimal effort.Our design is targeted at hosting up to 100 virtual machine instances simultaneously on a modern server. The virtualization approach taken by Xen is extremely efficient: we allow operating systems such as Linux and Windows XP to be hosted simultaneously for a negligible performance overhead --- at most a few percent compared with the unvirtualized case. We considerably outperform competing commercial and freely available solutions in a range of microbenchmarks and system-wide tests.

Computer Vision: Algorithms and Applications

Abstract: Humans perceive the three-dimensional structure of the world with apparent ease. However, despite all of the recent advances in computer vision research, the dream of having a computer interpret an image at the same level as a two-year old remains elusive. Why is computer vision such a challenging problem and what is the current state of the art? Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images. It also describes challenging real-world applications where vision is being successfully used, both for specialized applications such as medical imaging, and for fun, consumer-level tasks such as image editing and stitching, which students can apply to their own personal photos and videos. More than just a source of recipes, this exceptionally authoritative and comprehensive textbook/reference also takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene. These problems are also analyzed using statistical models and solved using rigorous engineering techniques Topics and features: structured to support active curricula and project-oriented courses, with tips in the Introduction for using the book in a variety of customized courses; presents exercises at the end of each chapter with a heavy emphasis on testing algorithms and containing numerous suggestions for small mid-term projects; provides additional material and more detailed mathematical topics in the Appendices, which cover linear algebra, numerical techniques, and Bayesian estimation theory; suggests additional reading at the end of each chapter, including the latest research in each sub-field, in addition to a full Bibliography at the end of the book; supplies supplementary course material for students at the associated website, http://szeliski.org/Book/. Suitable for an upper-level undergraduate or graduate-level course in computer science or engineering, this textbook focuses on basic techniques that work under real-world conditions and encourages students to push their creative boundaries. Its design and exposition also make it eminently suitable as a unique reference to the fundamental techniques and current research literature in computer vision.

Computer vision : a modern approach = 计算机视觉 : 一种现代的方法

Abstract: From the Publisher: The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

VoxNet: A 3D Convolutional Neural Network for real-time object recognition

Abstract: Robust object recognition is a crucial skill for robots operating autonomously in real world environments. Range sensors such as LiDAR and RGBD cameras are increasingly found in modern robotic systems, providing a rich source of 3D information that can aid in this task. However, many current systems do not fully utilize this information and have trouble efficiently dealing with large amounts of point cloud data. In this paper, we propose VoxNet, an architecture to tackle this problem by integrating a volumetric Occupancy Grid representation with a supervised 3D Convolutional Neural Network (3D CNN). We evaluate our approach on publicly available benchmarks using LiDAR, RGBD, and CAD data. VoxNet achieves accuracy beyond the state of the art while labeling hundreds of instances per second.