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This paper considers persistent monitoring of environmental phenomena using unmanned aerial vehicles (UAVs). The objective is to generate periodic dynamically feasible UAV trajectories that minimize the estimation uncertainty at a set of points of interest in the environment. We develop an optimization algorithm that iterates between determining the observation periods for a set of ordered points of interest and optimizing a continuous UAV trajectory to meet the required observation periods and UAV dynamics constraints. The interest-point visitation order is determined using a Traveling Salesman Problem (TSP), followed by a greedy optimization algorithm to determine the number of observations that minimizes the maximum steady-state eigenvalue of a Kalman filter estimator. Given the interest-point observation periods and visitation order, a minimum-jerk trajectory is generated from a bi-level optimization, formulated as a convex quadratically constrained quadratic program. The resulting B-spline trajectory is guaranteed to be feasible, meeting the observation duration, maximum velocity and acceleration, region enter and exit constraints. The feasible trajectories outperform existing methods by achieving comparable observability at up to 47% higher travel speeds, resulting in lower maximum estimation uncertainty.

As the size of data generated every day grows dramatically, the computational bottleneck of computer systems has shifted toward storage devices. The interface between the storage and the computational platforms has become the main limitation due to its limited bandwidth, which does not scale when the number of storage devices increases. Interconnect networks do not provide simultaneous access to all storage devices and thus limit the performance of the system when executing independent operations on different storage devices. Offloading the computations to the storage devices eliminates the burden of data transfer from the interconnects. Near-storage computing offloads a portion of computations to the storage devices to accelerate big data applications. In this article, we propose a generic near-storage sort accelerator for data analytics, NASCENT2, which utilizes Samsung SmartSSD, an NVMe flash drive with an on-board FPGA chip that processes data in situ. NASCENT2 consists of dictionary decoder, sort, and shuffle FPGA-based accelerators to support sorting database tables based on a key column with any arbitrary data type. It exploits data partitioning applied by data processing management systems, such as SparkSQL, to breakdown the sort operations on colossal tables to multiple sort operations on smaller tables. NASCENT2 generic sort provides 2more »× speedup and 15.2 × energy efficiency improvement as compared to the CPU baseline. It moreover considers the specifications of the SmartSSD (e.g., the FPGA resources, interconnect network, and solid-state drive bandwidth) to increase the scalability of computer systems as the number of storage devices increases. With 12 SmartSSDs, NASCENT2 is 9.9× (137.2 ×) faster and 7.3 × (119.2 ×) more energy efficient in sorting the largest tables of TPCC and TPCH benchmarks than the FPGA (CPU) baseline.« less