@article {490, title = {Modeling Human Car-Following Behavior from Demonstration with Recurrent Neural Networks}, year = {2020}, abstract = {

The validity of simulation testing for autonomous vehicles depends on the ability to accurately simulate human driving behavior. This project seeks to train a model on an individual{\textquoteright}s driving data, and to test the ability of the model to predict trajectories that replicate the driver{\textquoteright}s style by using the model in a realistic simulated environment. Specifically, we deployed Recurrent Neural Network (RNN) modeling techniques to create a black-box model of an individual{\textquoteright}s driving behavior. We use our RNN-trained model to simulate a human-driven vehicle in the Robot Operating System (ROS) based CAT Vehicle simulator for autonomous vehicle validation. We hope this work is a step to improve testing environments for validating human behavior replicating car-following models and thereby improve testing environments for autonomous vehicles in general.

}, keywords = {car-following models, driving behavior, recurrent neural network, simulation, trajectory prediction}, author = {Iris Jones and Megan Walter}, editor = {Rahul Bhadani} } @conference {472, title = {Domain Specific Modeling Language for Test World Creation}, booktitle = {CAT Vehicle Research Experience for Undergraduates}, year = {2019}, month = {08/2019}, publisher = {The University of Arizona}, organization = {The University of Arizona}, address = {Tucson}, abstract = {

It is often necessary to use a 3D physics simulator in order to model and test complex robotic systems. Verifying certain behaviors of systems in the real world can be costly, time-consuming, and even dangerous, while simulations are relatively cheap and fast. However, creating simulated environments to test robotic behaviors can take up quite a lot of time and processing power. In order for behaviors to be tested in a variety of scenarios, multiple environments must be created, causing verification time to increase. This paper presents a domain-specific modeling language that can be used to speed up this process. This modeling language can be used in WebGME to generate multiple world and launch files in Gazebo, a 3D dynamics simulator. These world files can then be used to test various behaviors of complex robots such as the CAT Vehicle (Cognitive and Autonomous Test Vehicle) in a variety of simulated environments. This model language can save valuable testing time by quickly creating usable test files for complex physics based models such as the CAT Vehicle.

}, keywords = {autonomous vehicles, dsml, simulation}, url = {http://csl.arizona.edu/content/domain-specific-modeling-language-test-world-creation}, author = {Jill Alexander and Alex Pyryt and Rahul Bhadani and Matthew Bunting} } @proceedings {455, title = {Real-Time Distance Estimation and Filtering of Vehicle Headways for Smoothing of Traffic Waves}, year = {2019}, month = {04/2019}, edition = {10}, address = {Montreal, Canada}, abstract = {

In this paper, we describe an experience report and field deployment of real-time filtering algorithms used with a robotic vehicle to smooth emergent traffic waves. When smoothing these waves in simulation, a common approach is to implement controllers that utilize headway, relative velocity and even acceleration from smooth ground truth information, rather than from realistic data. As a result, many results may be limited in their impact when considering the dynamics of the vehicle under control and the discretized nature of the laser data as well as its periodic arrival. Our approach discusses trade-offs in estimation accuracy to provide both distance and velocity estimates, with ground-truth hardware-in-the-loop tests with a robotic car. The contribution of the work enabled an experiment with 21 vehicles, including the robotic car closing the loop at up to 8.0 m/s with this filtered estimate, stressing the importance of an algorithm that can deliver real-time results with acceptable accuracy for the safety of the drivers in the experiment.

}, keywords = {autonomous vehicles, Digital Filter, simulation, Traffic}, doi = {10.1145/3302509.3314026}, url = {https://dl.acm.org/citation.cfm?doid=3302509.3314026}, author = {Rahul Bhadani and Matthew Bunting and Benjamin Seibold and Raphael E Stern and Shumo Cui and Jonathan Sprinkle and Benedetto Piccoli and Daniel B. Work} } @article {Sandoval:2017:TTS:3092956.3047498, title = {Task Transition Scheduling for Data-Adaptable Systems}, journal = {ACM Transactions on Embedded Computing Systems (TECS)}, volume = {16}, year = {2017}, pages = {105:1{\textendash}105:28}, abstract = {

Data-adaptable embedded systems operate on a variety of data streams, which requires a large degree of configurability and adaptability to support runtime changes in data stream inputs. Data-adaptable reconfigurable embedded systems, when decomposed into a series of tasks, enable a flexible runtime implementation in which a system can transition the execution of certain tasks between hardware and software while simultaneously continuing to process data during the transition. Efficient runtime scheduling of task transitions is needed to optimize system throughput and latency of the reconfiguration and transition periods. In this article, we provide an overview of a runtime framework enabling the efficient transition of tasks between software and hardware in response to changes in system inputs. We further present and analyze several runtime transition scheduling algorithms and highlight the latency and throughput tradeoffs for two data-adaptable systems. To evaluate the task transition selection algorithms, a case study was performed on an adaptable JPEG2000 implementation as well as three other synchronous dataflow systems characterized by transition latency and communication load.

}, keywords = {Data adaptability, hardware/software codesign, model-based design, runtime transition scheduling}, issn = {1539-9087}, doi = {10.1145/3047498}, url = {http://doi.acm.org/10.1145/3047498}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Gopinath, Vijay Shankar and Sachidanand Mahadevan and Milakovich, Andrew and Merry, Kyle and Jonathan Sprinkle and Roman Lysecky} } @conference {467, title = {Workshop Preview of the 15th Workshop on Domain Specific Modeling (DSM 2015)}, booktitle = {Companion Proceedings of the 2015 ACM SIGPLAN International Conference on Systems, Programming, Languages and Applications: Software for Humanity}, year = {2015}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-3722-9}, doi = {10.1145/2814189.2833204}, url = {http://doi.acm.org/10.1145/2814189.2833204}, author = {Jeffrey Gray and Jonathan Sprinkle and Juka-Pekka Tolvanen and Matti Rossi} } @conference {whitsitt2014cps, title = {Automatic Verification of Dynamic Constraints in LTI Control Systems Through Model Transformations}, booktitle = {NSF Young Professionals Workshop on Exploring New Frontiers in Cyber-Physical Systems}, year = {2014}, month = {03/2014}, publisher = {NSF}, organization = {NSF}, address = {Washington, DC}, keywords = {Controls, Dynamic Constraints, Model Transformations}, author = {Sean Whitsitt} } @conference {233, title = {How You Can Learn to Stop Worrying and Love Reconfigurable Embedded Systems: A Tutorial}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {213-214}, keywords = {C++ language, C/C++ code, codesign, Computers, Conferences, data streams, embedded hardware, embedded systems, Hardware, hardware tasks, hardware-software codesign, image processing algorithms, JPEG2000 standards, middleware, middleware framework, modeling infrastructure, reconfigurable embedded systems, runtime behaviors, software tasks, software tool, software tools, Transform coding, Tutorials}, doi = {10.1109/ECBS.2013.27}, author = {Nathan Sandoval and Casey Mackin and Roman Lysecky and Jonathan Sprinkle} } @conference {231, title = {Model-Based Software Synthesis for Self-Reconfigurable Sensor Network in Water Monitoring}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {40-48}, keywords = {accelerometers, Code Generation, communication task, computation task, Computational modeling, concurrent engineering, concurrent tasks specification, control tasks, cyber-physical systems, domain-specific modeling language, drifters, embedded programming, environmental monitoring (geophysics), environmental science computing, floating sensor testbed, formal specification, Global Positioning System, GPS sensors, hand-written code, Instruction sets, mobile computing, mobile phone, mobile radio, mobile sensing platforms, model-based software synthesis, model-integrated computing, program compilers, Programming, self-reconfigurable sensor network, Smart phones, software synthesis, ubiquitous mobile device, Unified modeling language, water flow monitoring, wireless sensor networks}, doi = {10.1109/ECBS.2013.34}, url = {http://dx.doi.org/10.1109/ECBS.2013.34}, author = {Kun Zhang and Jonathan Sprinkle} } @conference {232, title = {System Throughput Optimization and Runtime Communication Middleware Supporting Dynamic Software-Hardware Task Migration in Data Adaptable Embedded Systems}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {59-68}, keywords = {combinatorial explosion, Data adaptability, data adaptable design methodology, data adaptable embedded systems, data configurations, data handling, Data models, data profile correlation, design time optimization, dynamic software-hardware task migration, embedded systems, Field programmable gate arrays, FIFO queues, Firing, Hardware, hardware accelerators, hardware-software codesign, hardware-software communication wrapper, hardware/software codesign, hardware/software communication middleware, heuristic programming, heuristic search methodology, middleware, model-based design, Pareto optimal configurations, Pareto optimisation, Runtime, runtime communication middleware, search problems, simulation-based methodology, system throughput optimization}, doi = {10.1109/ECBS.2013.25}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Roman Lysecky and Jonathan Sprinkle} } @conference {224, title = {The 12th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity}, year = {2012}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1563-0}, doi = {10.1145/2384716.2384784}, url = {http://doi.acm.org/10.1145/2384716.2384784}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference { c:milakovic2012ecbs, title = {Automated Software Generation and Hardware Coprocessor Synthesis for Data-Adaptable Reconfigurable Systems}, booktitle = {Engineering of Computer Based Systems (ECBS), 2012 IEEE 19th International Conference and Workshops on}, year = {2012}, pages = {15-23}, abstract = {

We present an overview of a data-adaptable reconfigurable embedded systems design methodology. The paper presents a novel paradigm for hardware/software code sign and reconfigurable computing driven by data-adaptability. The data-adaptable approach allows designers to directly model the data configurability of the target application, thereby enabling a solution that permits dynamic reconfiguration based on the data profile of the incoming data stream. This approach permits low-power, small form-factor hardware implementations of algorithms that might otherwise consume significant resources, or perhaps exceed the available space of the reconfigurable hardware.

}, keywords = {Data adaptability, hardware/software codesign, model-based design}, doi = {10.1109/ECBS.2012.16}, url = {http://dx.doi.org/10.1109/ECBS.2012.16}, author = {Milakovich, Andrew and Vijay Gopinath and Roman Lysecky and Jonathan Sprinkle} } @conference {222, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Companion}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-0942-4}, doi = {10.1145/2048147.2048227}, url = {http://doi.acm.org/10.1145/2048147.2048227}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference {466, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the Compilation of the Co-located Workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE! 2011, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095052}, url = {http://doi.acm.org/10.1145/2095050.2095052}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Jeffrey Gray and Matti Rossi} } @conference {w:jones-dsm-2011, title = {{autoVHDL: a domain-specific modeling language for the auto-generation of VHDL core wrappers}}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \&\#38; VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {71{\textendash}76}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

Reconfigurable embedded hardware is a staple of many applications in defense technology and applied engineering. The integration of various embedded hardware "cores" (i.e., the computing units) is complicated by the unintended complexities inherent in the consistent and correct construction of communication pathways{\textendash}-specified using VHDL. This paper presents a domain-specific modeling approach to reducing this complexity. The results include demonstration of the tool, where generated VHDL code with complex data and processing requirements is simulated.

}, keywords = {code synthesis, domain-specific modeling, embedded systems, reconfigurable computing}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095063}, url = {http://dx.doi.org/10.1145/2095050.2095063}, author = {Erica Jones and Jonathan Sprinkle} } @conference { w:whitsitt-neat-2011, title = {Constrained data acquisition for mobile citizen science applications}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {267{\textendash}272}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

The popularity and ubiquity of personal mobile computing devices{\textendash}-coupled with their powerful sensing capabilities{\textendash}-allow their application in the structured collection of data for societal benefit and science applications. Citizen scientists are willing users and active contributors to scientific research and applications, but if they gather data in an unconstrained or ad hoc manner, their efforts may be of little scientific value. In this paper, we present a user interface for a mobile device which is properly constrained to permit the gathering of valid scientific data. This helps to achieve the goal that any individual with a basic familiarity of the device (but not of the science) should be able to obtain useful data with little learning required. As a use case for this concept, we present a mobile application that allows users to collect location-stamped images to supplement satellite data for climate change research.

}, keywords = {citizen scientist, domain-specific modeling, iphone, mobile phone programming}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095095}, url = {http://dx.doi.org/10.1145/2095050.2095095}, author = {Sean Whitsitt and Armando Barreto and Maribel Hudson and Hussain Al-Helal and Diyang Chu and Kamel Didan and Jonathan Sprinkle} } @conference { c:sprinkle-mehs-dsme, title = {A Domain-Specific Modeling Environment Applied to the Design of an Embedded Human System}, booktitle = {TBD}, month = {Submitted}, pages = {(in preparation)}, keywords = {dsml}, author = {Jonathan Sprinkle} }