Development of a Sensor Database System for Communication Robots
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Development of a Sensor Database System for
Communication Robots
Hideyuki KAWASHIMA
Graduate School of Keio University
Yokohama, JAPAN
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Background:Human-Robot Communication
• Sensors– Video
– Microphone
– Touch sensor
– Ultrasonic sensor
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Required properties
• Monitoring sensor data during experiments
• Persisting precious sensor data immediately
• Retrieving similar sensor sequences
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Problem formulation
1. Continual query
2. Freshness of data
3. Similar sequence retrieval
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Problem1: Continual query
DB
MonitoringClient
Sensor
Data 1Data 2Data 3
DBMS
IPC waste & period lag
Backend
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Problem2:Freshness of Data
Log file
Databasebackend
BufferPool
Sensor Process
Stale data because of Tardy disk access
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Problem3:Similar Sequence Retrieval
• Metrics– Euclid:– Dynamic time warping: MIN{ }WkΣ
K
1 2 3 4
4
3
2
5
Wk = A distance on a path
9
4
1
4
1
0
1
0
1
0
1
4
16 9 4 1
2
1
5
4
23
34
(Di-Qi)Σ 2 = 2= 2/5√
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My approach: Extending RDBMS for problems1. Continual query
2. Freshness of data
3. Similar sequence retrieval
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Continual query
DB
MonitoringClient
Sensor
Data 1Data 2Data 3
DBMS
MonitoringBackend
Register CQ
TransferBackend
Efficient IPC & Exactly periodic monitoring
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Freshness of data
Databasebackend
BufferPool
Sensor Process
Remote log server& Check pointer
Network
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Similar sequence retrieval
• Select sonar from robovie where simseq external [1,2,3] with dtw < 10
id12
Experiment_date01/05/200402/05/2004
sonar
1 2 3Sliding window:
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Design of KRAFT
Trans. Mgr
Mem. MgrIndex Mgr
Storage Mgr
Parser Executor Recovery Mgr
Lock Mgr
Local Log MgrConn. Mgr
Remote Log Mgr
Mem. Mgr
Client
TCPTCP
Over 17000 lines by C
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Future directions
• Enhancing analytical methods for sensor data
• Scalability for continual monitors
• Accelerating query processing– Index for similarity retrieval– Parallel execution– Device conscious
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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