1 / 14

Development of a Sensor Database System for Communication Robots

Development of a Sensor Database System for Communication Robots. Hideyuki KAWASHIMA Graduate School of Keio University Yokohama, JAPAN. Background: Human-Robot Communication. Sensors Video Microphone Touch sensor Ultrasonic sensor. Required properties.

asher-mccormick
Download Presentation

Development of a Sensor Database System for Communication Robots

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Development of a Sensor Database System for Communication Robots Hideyuki KAWASHIMA Graduate School of Keio University Yokohama, JAPAN

  2. Background:Human-Robot Communication • Sensors • Video • Microphone • Touch sensor • Ultrasonic sensor

  3. Required properties • Monitoring sensor data during experiments • Persisting precious sensor data immediately • Retrieving similar sensor sequences

  4. Problem formulation • Continual query • Freshness of data • Similar sequence retrieval

  5. Problem1: Continual query Sensor Monitoring Client DB Data 1 Data 2 Data 3 Backend DBMS IPC waste & period lag

  6. Problem2:Freshness of Data Sensor Process Database backend Buffer Pool Stale databecause of Tardy disk access Log file

  7. (Di-Qi) 2 Σ √ 2/5 Wk Σ MIN{ } K 5 4 16 9 4 1 3 9 4 1 0 2 4 1 0 1 1 2 3 4 1 0 1 4 Problem3:Similar Sequence Retrieval • Metrics • Euclid: • Dynamic time warping: = 2 = Wk = A distance on a path 5 4 3 4 3 2 2 1

  8. My approach: Extending RDBMS for problems • Continual query • Freshness of data • Similar sequence retrieval

  9. Continual query Sensor Monitoring Client Register CQ DB Transfer Backend Data 1 Data 2 Monitoring Backend Data 3 DBMS Efficient IPC & Exactly periodic monitoring

  10. Freshness of data Sensor Process Database backend Buffer Pool Network Remote log server & Check pointer

  11. Similar sequence retrieval • Select sonar from robovie where simseq external [1,2,3] with dtw < 10 Sliding window: 1 2 3 id Experiment_date sonar 1 01/05/2004 2 02/05/2004

  12. Design of KRAFT Trans. Mgr Storage Mgr Mem. Mgr Index Mgr Mem. Mgr Lock Mgr Remote Log Mgr Parser Executor Recovery Mgr Conn. Mgr Local Log Mgr TCP TCP Over 17000 lines by C Client

  13. Future directions • Enhancing analytical methods for sensor data • Scalability for continual monitors • Accelerating query processing • Index for similarity retrieval • Parallel execution • Device conscious

  14. Summary • Motivation • Management of data for human-robot interactions • Problems • Continual query • Freshness of data • Similar sequence retrieval • My approach • Extending RDBMS for problems • Future directions

More Related