Testbed

About: Testbed is a research topic. Over the lifetime, 10858 publications have been published within this topic receiving 147147 citations. The topic is also known as: test bed.

AutoRally An open platform for aggressive autonomous driving

Abstract: This article presents AutoRally, a 1$:$5 scale robotics testbed for autonomous vehicle research. AutoRally is designed for robustness, ease of use, and reproducibility, so that a team of two people with limited knowledge of mechanical engineering, electrical engineering, and computer science can construct and then operate the testbed to collect real world autonomous driving data in whatever domain they wish to study. Complete documentation to construct and operate the platform is available online along with tutorials, example controllers, and a driving dataset collected at the Georgia Tech Autonomous Racing Facility. Offline estimation algorithms are used to determine parameters for physics-based dynamics models using an adaptive limited memory joint state unscented Kalman filter. Online vehicle state estimation using a factor graph optimization scheme and a convolutional neural network for semantic segmentation of drivable surface are presented. All algorithms are tested with real world data from the fleet of six AutoRally robots at the Georgia Tech Autonomous Racing Facility tracks, and serve as a demonstration of the robot$'$s capabilities.

Script-Based Generation of Dynamic Testbeds for SOA.

Abstract: This paper addresses one of the major problems of SOA software development: the lack of support for testing complex service-oriented systems. The research community has developed various means for checking individual Web services but has not come up with satisfactory solutions for testing systems that operate in service-based environments and, therefore, need realistic testbeds for evaluating their quality. We regard this as an unnecessary burden for SOA engineers. As a proposed solution for this issue, we present the Genesis2 testbed generator framework. Genesis2 supports engineers in modeling testbeds and programming their behavior. Out of these models it generates running instances of Web services, clients, registries, and other entities in order to emulate realistic SOA environments. By generating real testbeds, our approach assists engineers in performing runtime tests of their systems and particular focus has been put on the framework’s extensibility to allow the emulation of arbitrarily complex environments. Furthermore, by exploiting the advantages of the Groovy language, Genesis2 provides an intuitive yet powerful scripting interface for testbed control.

Adaptive Video Streaming Testbed Design for Performance Study and Assessment of QoE

Abstract: Video streaming applications have advanced significantly with the development of the Internet. HTTP Adaptive Streaming (HAS) as a streaming technology allows adaptation of downloaded video quality to current network conditions. Thus, the adaptation technique of HAS application considers switching between different qualities of the video and avoids stalling streamed frames over high oscillation client’s throughput. This is provided satisfactory of the users' experience to perceive quality as the known quality of experience (QoE). Therefore, there are high competitions of service providers to attract costumers to use services and QoE is become a more important parameter to lead the service providers to know about the end-users feedback. Implementing HAS applications to find out QoE in real life scenarios of vast networks becomes more challenging and complex task regards to cost, agile, time and decisions. In this paper, a virtualized network testbed to virtualize various machines to support implementing experiments of adaptive video streaming has been developed. Within the test study, the metrics which demonstrate performance of QoE are investigated, respectively including, initial delay (i.e., startup delay at the beginning of playback a video), frequency switches (i.e., number of times the quality is changed), accumulative video time (i.e., number and length of stalls), CPU usage, and battery energy consumption. Furthermore, the relation between effective parameters of QoS on the aforementioned metrics for different segment length is investigated. Experimental results show that the proposed virtualized system is agile, facility to install and use, costs less than real testbeds. As a result, the proposal system can be maintained adequate consuming CPU and battery energy consumption until 50% of launched machines during the process of experiments. Moreover, the subjective and objective performance study of QoE evaluation in the system has proved that the segment lengths of 6 to 8 seconds were faired and more efficient than others according to the investigated parameters.

A system architecture for managing mobile streaming media services

Abstract: A mobile streaming media content delivery network (MSM-CDN) overlay system provides a scalable method for delivering media streams to a large number of clients With the availability of such a streaming infrastructure, it becomes possible to implement enhanced media services For example, the wide range and variability of network conditions, as well as processing and display capabilities of these devices will effectively require media streams to be adapted in the network Each streaming session needs to be tailored to these changing environments in a practical and scalable manner Media transcoding services can be performed by the servers of the MSM-CDN overlay, providing this flexibility Due to the computational and bandwidth requirements of real-time video transcoding, these services require management of the placement of these tasks on the most appropriate servers, to make best use of the distributed resources available within the network In this paper we address the media service assignment problem using the notion of service-location management (SLM) An effective load balancing system requires appropriate resource monitoring We propose alternate SLM resource monitoring schemes Using media transcoding as a representative service, we compare the performance of these schemes on an MSM-CDN testbed We present our conclusions on which of these alternate implementations is both most reliable and most extensible to serve a large numbers of mobile client requests

Fidelity-Aware Utilization Control for Cyber-Physical Surveillance Systems

Abstract: Recent years have seen the growing deployments of Cyber-Physical Systems (CPSs) in many mission-critical applications such as security, civil infrastructure, and transportation. These applications often impose stringent requirements on system sensing fidelity and timeliness. However, existing approaches treat these two concerns in isolation and hence are not suitable for CPSs where system fidelity and timeliness are dependent on each other because of the tight integration of computational and physical resources. In this paper, we propose a holistic approach called Fidelity-Aware Utilization Controller (FAUC) for Wireless Cyber-physical Surveillance (WCS) systems that combine low-end sensors with cameras for large-scale ad hoc surveillance in unplanned environments. By integrating data fusion with feedback control, FAUC can enforce a CPU utilization upper bound to ensure the system's real-time schedulability although CPU workloads vary significantly at runtime because of stochastic detection results. At the same time, FAUC optimizes system fidelity and adjusts the control objective of CPU utilization adaptively in the presence of variations of target/noise characteristics. We have implemented FAUC on a small-scale WCS testbed consisting of TelosB/Iris motes and cameras. Moreover, we conduct extensive simulations based on real acoustic data traces collected in a vehicle surveillance experiment. The testbed experiments and the trace-driven simulations show that FAUC can achieve robust fidelity and real-time guarantees in dynamic environments.