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1. Cost-effective Machine Learning Inference Offload for Edge Computing

Author

Makaya, Christian, Iyer, Amalendu, Salfity, Jonathan, Athreya, Madhu, and Lewis, M Anthony

Subjects
Computer Science - Machine Learning, Computer Science - Distributed, Parallel, and Cluster Computing, Computer Science - Robotics
Abstract

Computing at the edge is increasingly important since a massive amount of data is generated. This poses challenges in transporting all that data to the remote data centers and cloud, where they can be processed and analyzed. On the other hand, harnessing the edge data is essential for offering data-driven and machine learning-based applications, if the challenges, such as device capabilities, connectivity, and heterogeneity can be mitigated. Machine learning applications are very compute-intensive and require processing of large amount of data. However, edge devices are often resources-constrained, in terms of compute resources, power, storage, and network connectivity. Hence, limiting their potential to run efficiently and accurately state-of-the art deep neural network (DNN) models, which are becoming larger and more complex. This paper proposes a novel offloading mechanism by leveraging installed-base on-premises (edge) computational resources. The proposed mechanism allows the edge devices to offload heavy and compute-intensive workloads to edge nodes instead of using remote cloud. Our offloading mechanism has been prototyped and tested with state-of-the art person and object detection DNN models for mobile robots and video surveillance applications. The performance shows a significant gain compared to cloud-based offloading strategies in terms of accuracy and latency.

Published
2020

9. Foot placement selection using non-geometric visual properties

Author

Lewis, M. Anthony, Lee, Hyo-Kyung, and Patla, Aftab

Subjects
Robots -- Motion, Mobile robots, Robotics, Computers and office automation industries, Engineering and manufacturing industries
Abstract

Abstract Geometric information alone is not sufficient to guide foot placement in a robotic device. A travel path may be firm or soft, slippery or sticky, and will thus affect [...]

Published
2005

16. Contributors

Author

Adler, Scott A., primary, Ambinder, Michael S., additional, Anderson, Charles H., additional, Arathorn, David W., additional, Arbib, Michael A., additional, Atchley, Paul, additional, Baldi, Pierre, additional, Ballard, Dana H., additional, Bar, Moshe, additional, Beck, Diane M., additional, Bell, Andrew H., additional, Bichot, Narcisse P., additional, Billock, Greg, additional, Brefczynski-Lewis, Julie A., additional, Brockmole, James R., additional, Büchel, Christian, additional, Buxton, Hilary, additional, Carlson, Laura A., additional, Carlyon, Robert P., additional, Carrasco, Marisa, additional, Cave, Kyle R., additional, Chubb, Charles, additional, Chun, Marvin M., additional, Coull, Jennifer T., additional, Craighero, Laila, additional, Cusack, Rhodri, additional, Dalley, Jeffrey W., additional, Dayan, Peter, additional, Deco, Gustavo, additional, Desimone, Robert, additional, Deouell, Leon Y., additional, DeYoe, Edgar A., additional, Dobkins, Karen R., additional, Dorris, Michael C., additional, Dosher, Barbara Anne, additional, Dornaika, Fadi, additional, Driver, Jon, additional, Eimer, Martin, additional, Elder, James H., additional, Fecteau, Jillian H., additional, Findlay, John M., additional, Freeman, Elliot D., additional, Fries, Pascal, additional, Frith, Chris D., additional, Gazzaniga, Michael S., additional, Giesbrecht, Barry, additional, Gitelman, Darren R., additional, Goldstein, Ronen, additional, Golovan, Alexander V., additional, Gorea, Andrei, additional, Griffin, Ivan C., additional, Grossberg, Stephen, additional, Gusakova, Valentina I., additional, Hamker, Fred H., additional, Handy, Todd C., additional, Heeger, David J., additional, Hillyard, Steven A., additional, Hopfinger, Joseph B., additional, Horowitz, Todd S., additional, Hou, Bob, additional, Hsiao, Steven S., additional, Humphreys, Glyn W., additional, Husain, Masud, additional, Iacoboni, Marco, additional, Indiveri, Giacomo, additional, Itti, Laurent, additional, Ivanoff, Jason, additional, Johnson, Kenneth O., additional, Kastner, Sabine, additional, Kim, Min-shik, additional, Klein, Raymond M., additional, Knight, Robert T., additional, Knoblauch, Andreas, additional, Koch, Christof, additional, Krummenacher, Joseph, additional, Lamme, Victor A.F., additional, Lewis, M. Anthony, additional, Liu, Taosheng, additional, Logan, Gordon D., additional, Lu, Zhong-Lin, additional, Macalvso, Emiliano, additional, Mangun, George R., additional, Manly, Tom, additional, Marois, René, additional, Martínez, Antígona, additional, Martinez-Trujillo, Julio C., additional, McMains, Stephanie A., additional, Medioni, Gérard, additional, Mesulam, Marsel, additional, Milstein, Jean A., additional, Mordohai, Philippos, additional, Morgan, Michael J., additional, Mozer, Michael C., additional, Müller, Hermann J., additional, Munoz, Douglas P., additional, Murray, Scott, additional, Myachykov, Andriy, additional, Navalpakkam, Vidhya, additional, Niebur, Ernst, additional, Nobre, Anna Christina, additional, Nothdurft, Hans-Christoph, additional, O'Connor, Daniel H., additional, O'Craven, Kathleen M., additional, Oliva, Aude, additional, Olshausen, Bruno A., additional, Orban, Guy A., additional, Paletta, Lucas, additional, Palm, Günther, additional, Parkhurst, Derrick J., additional, Pattanaik, Sumanta N., additional, Pauwels, Karl, additional, Pessoa, Luiz, additional, Podladchikova, Lubov N., additional, Posner, Michael I., additional, Privitera, Claudio M., additional, Proverbio, Alice M., additional, Psaltis, Demetri, additional, Rao, Rajesh P.N., additional, Rees, Geraint, additional, Rensink, Ronald A., additional, Ress, David, additional, Reynolds, John H., additional, Rezec, Amy A., additional, Richards, John E., additional, Riddoch, M. Jane, additional, Riesenhuber, Maximilian, additional, Rizzolatti, Giacomo, additional, Robbins, Trevor W., additional, Robertson, Ian H., additional, Robertson, Lynn C., additional, Roelfsema, Pieter R., additional, Rolls, Edmund T., additional, Rome, Erich, additional, Rybak, Ilya A., additional, Sagi, Dov, additional, Schall, Jeffrey D., additional, Schill, Kerstin, additional, Schneider, Keith A., additional, Serences, John T., additional, Shevtsova, Natalia A., additional, Shimojo, Shinsuke, additional, Shore, David I., additional, Simons, Daniel J., additional, Singer, Wolf, additional, Small, Dana M., additional, Sobel, Kenith V., additional, Solomon, Joshua A., additional, Somers, David C., additional, Spekreijse, Henk, additional, Spence, Charles, additional, Stark, Lawrence W., additional, Steinmetz, Peter N., additional, Supèr, Hans, additional, Theeuwes, Jan, additional, Thompson, Kirk G., additional, Tipper, Steven P., additional, Torralba, Antonio, additional, Treue, Stefan, additional, Tsotsos, John K., additional, Ungerleider, Leslie G., additional, Van Essen, David C., additional, Van Hulle, Marc M., additional, Vandenberghe, Rik, additional, Vanduffel, Wim, additional, VanRullen, Rufin, additional, Vecera, Shaun P., additional, Vuilleumier, Patrik O., additional, Wang, Ranxiao Frances, additional, Watanabe, Katsumi, additional, Wolfe, Jeremy M., additional, Yantis, Steven, additional, Yee, Hector Y., additional, Zani, Alberto, additional, Zelinsky, Gregory J., additional, Zenger-Landolt, Barbara, additional, Zetzsche, Christoph, additional, Zhaoping, Li, additional, and Zihl, Josef, additional

Published
2005
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24. Anthropomorphic Telemanipulation System in Terminus Control Mode

Author

Jau, Bruno M, Lewis, M. Anthony, and Bejczy, Antal K

Abstract

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

Published
1994

25. Identifying Medical Diagnoses and Treatable Diseases by Image-Based Deep Learning

Author

Kermany, Daniel S., primary, Goldbaum, Michael, additional, Cai, Wenjia, additional, Valentim, Carolina C.S., additional, Liang, Huiying, additional, Baxter, Sally L., additional, McKeown, Alex, additional, Yang, Ge, additional, Wu, Xiaokang, additional, Yan, Fangbing, additional, Dong, Justin, additional, Prasadha, Made K., additional, Pei, Jacqueline, additional, Ting, Magdalene Y.L., additional, Zhu, Jie, additional, Li, Christina, additional, Hewett, Sierra, additional, Dong, Jason, additional, Ziyar, Ian, additional, Shi, Alexander, additional, Zhang, Runze, additional, Zheng, Lianghong, additional, Hou, Rui, additional, Shi, William, additional, Fu, Xin, additional, Duan, Yaou, additional, Huu, Viet A.N., additional, Wen, Cindy, additional, Zhang, Edward D., additional, Zhang, Charlotte L., additional, Li, Oulan, additional, Wang, Xiaobo, additional, Singer, Michael A., additional, Sun, Xiaodong, additional, Xu, Jie, additional, Tafreshi, Ali, additional, Lewis, M. Anthony, additional, Xia, Huimin, additional, and Zhang, Kang, additional

Published
2018
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26. Biomorphics takes consumer spin

Author

Lewis, M. Anthony

Subjects
Industry trend, Special-purpose computer system, Intelligent agent, Toys -- Technology application, Toy industry -- Product development, Games industry -- Product development, Computer industry -- Product development
Abstract

Many toys are becoming more 'robotic' by incorporating intelligent information processing onboard. On the high end of the market, Sony Japan has introduced the AIBO robotic dog, a sophisticated programmable […]

Published
2000

27. CPU-less robotics: distributed control of biomorphs

Author

Etienne-Cummings, Ralph, Lewis, M. Anthony, Hartmann, Mitra, Cohen, Avis H., Bains, Sunny, and Irakliotis, Leo J.

Abstract

Traditional robotics revolves around the microprocessor. All well-known demonstrations of sensory guided motor control, such as jugglers and mobile robots, require at least one CPU. Recently, the availability of fast CPUs have made real-time sensory-motor control possible, however, problems with high power consumption and lack of autonomy still remain. In fact, the best examples of real-time robotics are usually tethered or require large batteries. We present a new paradigm for robotics control that uses no explicit CPU. We use computational sensors that are directly interfaced with adaptive actuation units. The units perform motor control and have learning capabilities. This architecture distributes computation over the entire body of the robot, in every sensor and actuator. Clearly, this is similar to biological sensory- motor systems. Some researchers have tried to model the latter in software, again using CPUs. We demonstrate this idea in with an adaptive locomotion controller chip. The locomotory controller for walking, running, swimming and flying animals is based on a Central Pattern Generator (CPG). CPGs are modeled as systems of coupled non-linear oscillators that control muscles responsible for movement. Here we describe an adaptive CPG model, implemented in a custom VLSI chip, which is used to control an under-actuated and asymmetric robotic leg.

Published
2000

28. Rapid Pathogen Detection using Handheld Optical Immunoassay and Wire-guided Droplet PCR Systems

Author

Riley, Mark R., Cuello, Joel L., Lewis, M. Anthony, You, David Jinsoo, Riley, Mark R., Cuello, Joel L., Lewis, M. Anthony, and You, David Jinsoo

Abstract

This work introduces technology for rapid pathogen detection using handheld optical immunoassay and wire-guided droplet PCR systems. There have been a number of cases of foodborne or waterborne illness among humans that are caused by pathogens such as Escherichia coli O157:H7, Salmonella typhimurium, Influenza A H1N1, and the norovirus. The current practices to detect such pathogenic agents are: cell/viral culturing, immunoassays, or polymerase chain reactions (PCRs). These methods are essentially laboratory-based methods that are not at all real-time and thus unavailable for early-monitoring of such pathogens. They are also very difficult to be implemented in field, preventing early detection opportunities. This dissertation is divided into three papers that present methodologies towards the expeditious detections of infectious pathogens and the miniaturization of these detection systems towards field-deployable and point-of-care applications. Specifically, the work presented focuses on two methodologies: (1) light scatter detection using immunoagglutination assays with optimized Mie light scatter parameters in a real biological matrix consisting of plant tissue, and (2) wire-guided droplet manipulations for rapid and improved sample analysis, preparation, and PCR thermocycling. Both of these methods carry a collective objective towards providing high impact technologies for addressing the issues of food-related outbreaks and overall public safety. In the first paper, the direct and sensitive detection of foodborne pathogens from fresh produce samples was accomplished using a handheld lab-on-a-chip device, requiring little to no sample processing and enrichment steps for a near-real-time detection and truly field-deployable device. The detection of Escherichia coli K12 and O157:H7 in iceberg lettuce was achieved utilizing optimized Mie light scatter parameters with a latex particle immunoagglutination assay. The system exhibited good sensitivity, with a limit of de

Published
2011

29. Brainy chips: we should look to biology to figure out how to make smartphones more helpful, says M. Anthony Lewis

Author

Lewis, M. Anthony

Subjects
Cognition -- Technology application, Integrated circuits -- Innovations, Semiconductor chips -- Innovations, Smart phones -- Innovations, Standard IC, Smart phone, Technology application
Abstract

A modern smartphone is the most powerful information portal the world has known, integrating a traditional telephone with a powerful Internet-connected computer capable of navigating, playing multimedia, and taking photos. […]

Published
2014

37. CPU-less robotics: distributed control of biomorphs

Author

Bains, Sunny, Irakliotis, Leo J., Etienne-Cummings, Ralph, Lewis, M. Anthony, Hartmann, Mitra, Cohen, Avis H., Bains, Sunny, Irakliotis, Leo J., Etienne-Cummings, Ralph, Lewis, M. Anthony, Hartmann, Mitra, and Cohen, Avis H.

Abstract

Traditional robotics revolves around the microprocessor. All well-known demonstrations of sensory guided motor control, such as jugglers and mobile robots, require at least one CPU. Recently, the availability of fast CPUs have made real-time sensory-motor control possible, however, problems with high power consumption and lack of autonomy still remain. In fact, the best examples of real-time robotics are usually tethered or require large batteries. We present a new paradigm for robotics control that uses no explicit CPU. We use computational sensors that are directly interfaced with adaptive actuation units. The units perform motor control and have learning capabilities. This architecture distributes computation over the entire body of the robot, in every sensor and actuator. Clearly, this is similar to biological sensory- motor systems. Some researchers have tried to model the latter in software, again using CPUs. We demonstrate this idea in with an adaptive locomotion controller chip. The locomotory controller for walking, running, swimming and flying animals is based on a Central Pattern Generator (CPG). CPGs are modeled as systems of coupled non-linear oscillators that control muscles responsible for movement. Here we describe an adaptive CPG model, implemented in a custom VLSI chip, which is used to control an under-actuated and asymmetric robotic leg.

Published
2000

39. Giving robots a flexible persona: The five factor model of artificial personality in action.

Author

Sohn, Kiwon, Krishnamoorthy, Saravanakrishnan, Paul, Oh, and Lewis, M. Anthony

Abstract

A computational framework for artificial personality in cognitive robots is introduced. While every robot has some form of personality, the framework reported here is flexible and enables the exploration of different behaviors on the same robotic platform. The framework described here maintains a probabilistic representation of an internal state that includes emotion, motivation, sensing, and previous action. The next action is computed by using a massive number of rules implemented using Bayes Rule. This flexible Bayesian representation of personality allows the robots personality to be designed by a personality generator algorithm. The authors present results in a real robot and compare the behavior of robots with differing personalities. [ABSTRACT FROM PUBLISHER]

Published
2012

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