Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly redundant degrees of freedom, where traditional model-based methods usually fail to propel the robots energy-efficiently. In this work, we present a novel approach for designing an energy-efficient slithering gait for a snake-like robot using a model-free reinforcement learning (RL) algorithm. Specifically, we present an RL-based controller for generating locomotion gaits at a wide range of velocities, which is trained using the proximal policy optimization (PPO) algorithm. Meanwhile, a traditional parameterized gait controller is presented and the parameter sets are optimized using the grid search and Bayesian optimization algorithms for the purposes of reasonable comparisons. Based on the analysis of the simulation results, we demonstrate that this RL-based controller exhibits very natural and adaptive movements, which are also substantially more energy-efficient than the gaits generated by the parameterized controller. Videos are shown at https://videoviewsite.wixsite.com/rlsnake .

We present an overview of SAP HANA's Native Store Extension (NSE). This extension substantially increases database capacity, allowing to scale far beyond available system memory. NSE is based on a hybrid in-memory and paged column store architecture composed from data access primitives. These primitives enable the processing of hybrid columns using the same algorithms optimized for traditional HANA's in-memory columns. Using only three key primitives, we fabricated byte-compatible counterparts for complex memory resident data structures (e.g. dictionary and hash-index), compressed schemes (e.g. sparse and run-length encoding), and exotic data types (e.g. geo-spatial). We developed a new buffer cache which optimizes the management of paged resources by smart strategies sensitive to page type and access patterns. The buffer cache integrates with HANA's new execution engine that issues pipelined prefetch requests to improve disk access patterns. A novel load unit configuration, along with a unified persistence format, allows the hybrid column store to dynamically switch between in-memory and paged data access to balance performance and storage economy according to application demands while reducing Total Cost of Ownership (TCO). A new partitioning scheme supports load unit specification at table, partition, and column level. Finally, a new advisor recommends optimal load unit configurations. Our experiments illustrate the performance and memory footprint improvements on typical customer scenarios.

Non-Volatile RAM (NVRAM) is a novel class of hardware technology which is an interesting blend of two storage paradigms: byte-addressable DRAM and block-addressable storage (e.g. HDD/SSD). Most of the existing enterprise relational data management systems such as SAP HANA have their internal architecture based on the inherent assumption that memory is volatile and base their persistence on explicit handling of block-oriented storage devices. In this paper, we present the early adoption of Non-Volatile Memory within the SAP HANA Database, from the architectural and technical angles. We discuss our architectural choices, dive deeper into a few challenges of the NVRAM integration and their solutions, and share our experimental results. As we present our solutions for the NVRAM integration, we also give, as a basis, a detailed description of the relevant HANA internals.

Many relational databases exhibit complex dependencies between data attributes, caused either by the nature of the underlying data or by explicitly denormalized schemas. In data warehouse scenarios, calculated key figures may be materialized or hierarchy levels may be held within a single dimension table. Such column correlations and the resulting data redundancy may result in additional storage requirements. They may also result in bad query performance if inappropriate independence assumptions are made during query compilation. In this paper, we tackle the specific problem of detecting functional dependencies between columns to improve the compression rate for column-based database systems, which both reduces main memory consumption and improves query performance. Although a huge variety of algorithms have been proposed for detecting column dependencies in databases, we maintain that increased data volumes and recent developments in hardware architectures demand novel algorithms with much lower runtime overhead and smaller memory footprint. Our novel approach is based on entropy estimations and exploits a combination of sampling and multiple heuristics to render it applicable for a wide range of use cases. We demonstrate the quality of our approach by means of an implementation within the SAP NetWeaver Business Warehouse Accelerator. Our experiments indicate that our approach scales well with the number of columns and produces reliable dependence structure information. This both reduces memory consumption and improves performance for nontrivial queries.

Peer Data Management Systems (PDMS) are a natural extension of heterogeneous database systems. One of the main tasks in such systems is efficient query processing. Insisting on complete answers, however, leads to asking almost every peer in the network. Relaxing these completeness requirements by applying approximate query answering techniques can significantly reduce costs. Since most users are not interested in the exact answers to their queries, rank-aware query operators like top-k or skyline play an important role in query processing. In this paper, we present the novel concept of relaxed skylines that combines the advantages of both rank-aware query operators and approximate query processing techniques. Furthermore, we propose a strategy for processing relaxed skylines in distributed environments that allows for giving guarantees for the completeness of the result using distributed data summaries as routing indexes.