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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 Monitoring Client Sensor Data 1 Data 2 Data 3 DBMS IPC waste & period lag Backend
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Problem2: Freshness of Data Log file Database backend Buffer Pool Sensor Process Stale data because of Tardy disk access
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Problem3: Similar Sequence Retrieval Metrics –Euclid: –Dynamic time warping: MIN{ } WkWk Σ K 1234 4 3 2 5 W k = A distance on a path 9 4 1 4 1 0 1 0 1 0 1 4 16941 2 1 5 4 2 3 3 4 (Di-Qi) Σ 2 = 2 = 2/5 √
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My approach: Extending RDBMS for problems 1.Continual query 2.Freshness of data 3.Similar sequence retrieval
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Continual query DB Monitoring Client Sensor Data 1 Data 2 Data 3 DBMS Monitoring Backend Register CQ Transfer Backend Efficient IPC & Exactly periodic monitoring
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Freshness of data Database backend Buffer Pool 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 id 1 2 Experiment_date 01/05/2004 02/05/2004 sonar 123 Sliding window:
![Similar sequence retrieval Select sonar from robovie where simseq external [1,2,3] with dtw < 10 id 1 2 Experiment_date 01/05/ /05/2004 sonar 123 Sliding window:](http://images.slideplayer.com/24/7188456/slides/slide_11.jpg "Similar sequence retrieval Select sonar from robovie where simseq external [1,2,3] with dtw < 10 id 1 2 Experiment_date 01/05/ /05/2004 sonar 123 Sliding window:")
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Design of KRAFT Trans. Mgr Mem. MgrIndex Mgr Storage Mgr ParserExecutorRecovery Mgr Lock Mgr Local Log MgrConn. Mgr Remote Log Mgr Mem. Mgr Client TCP 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
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