Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199245
Vilgot Claesson, Cecilia Ekelin, N. Suri
The processes of accessing a shared communication media have been extensively researched in the dependability and real-time area. For embedded systems, the primary approaches have revolved around the event-triggered and the time-triggered paradigms. In this paper, our goal is to objectively and quantitatively outline the capabilities and limitations of each of these paradigms. The event-triggered approach is commonly perceived as providing high flexibility, while the time-triggered approach is expected to provide for a higher degree of predictable communication access to the media. We have quantified the spread of their differences, and provide a summary discussion about suggested best usage for each approach. The focus of our work is on the response times of the communication system, and also on the schedulability of the communication system in collaboration with tasks in the nodes.
{"title":"The event-triggered and time-triggered medium-access methods","authors":"Vilgot Claesson, Cecilia Ekelin, N. Suri","doi":"10.1109/ISORC.2003.1199245","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199245","url":null,"abstract":"The processes of accessing a shared communication media have been extensively researched in the dependability and real-time area. For embedded systems, the primary approaches have revolved around the event-triggered and the time-triggered paradigms. In this paper, our goal is to objectively and quantitatively outline the capabilities and limitations of each of these paradigms. The event-triggered approach is commonly perceived as providing high flexibility, while the time-triggered approach is expected to provide for a higher degree of predictable communication access to the media. We have quantified the spread of their differences, and provide a summary discussion about suggested best usage for each approach. The focus of our work is on the response times of the communication system, and also on the schedulability of the communication system in collaboration with tasks in the nodes.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126256386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199240
Y. Hur, R. Fierro, Insup Lee
We present the modeling and analysis of distributed autonomous robots using the specification language for hybrid systems, called CHARON. Coordination between distributed autonomous robots has attracted researchers of embedded and hybrid systems, since there has been increasing demand for multiple robots working together in a dynamically changing or unknown environment to carry out missions such as search and rescue, cooperative localization, and scouting and reconnaissance. To maximize the capability of performing tasks collaboratively as a team, formation control is one of crucial parts in developing distributed autonomous robots. In this paper formation control of a team of robots is modeled using CHARON and the model is analyzed using simulation with assertion checking capability of the CHARON toolset.
{"title":"Modeling distributed autonomous robots using CHARON: formation control case study","authors":"Y. Hur, R. Fierro, Insup Lee","doi":"10.1109/ISORC.2003.1199240","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199240","url":null,"abstract":"We present the modeling and analysis of distributed autonomous robots using the specification language for hybrid systems, called CHARON. Coordination between distributed autonomous robots has attracted researchers of embedded and hybrid systems, since there has been increasing demand for multiple robots working together in a dynamically changing or unknown environment to carry out missions such as search and rescue, cooperative localization, and scouting and reconnaissance. To maximize the capability of performing tasks collaboratively as a team, formation control is one of crucial parts in developing distributed autonomous robots. In this paper formation control of a team of robots is modeled using CHARON and the model is analyzed using simulation with assertion checking capability of the CHARON toolset.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122643552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199242
B. Ravindran, G. L. Lann, Jinggang Wang, Peng Li
In this paper, we present a systems engineering methodology for constructing certifiable realtime distributed systems. In the proposed approach, an architectural and algorithmic solution to an application problem is designed by considering the "weakest" models including the weakest asynchronous computational model and multimodal arrival model. Furthermore, timeliness properties are described using Jensen's benefit accrual predicates. Once a system solution is designed, timeliness properties are established by constructing necessary feasibility conditions that are expressed as non-valued predicates. The predicates are quantified and verified to produce the specification of a certified solution. We illustrate the approach by considering a packet transmission problem that desire soft timeliness. We present a certifiable solution to this problem that consists of switched Ethernet, a soft real-time packet scheduling algorithm (that was previously developed), and feasibility conditions.
{"title":"A systems engineering approach for constructing certifiable real-time distributed systems","authors":"B. Ravindran, G. L. Lann, Jinggang Wang, Peng Li","doi":"10.1109/ISORC.2003.1199242","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199242","url":null,"abstract":"In this paper, we present a systems engineering methodology for constructing certifiable realtime distributed systems. In the proposed approach, an architectural and algorithmic solution to an application problem is designed by considering the \"weakest\" models including the weakest asynchronous computational model and multimodal arrival model. Furthermore, timeliness properties are described using Jensen's benefit accrual predicates. Once a system solution is designed, timeliness properties are established by constructing necessary feasibility conditions that are expressed as non-valued predicates. The predicates are quantified and verified to produce the specification of a certified solution. We illustrate the approach by considering a packet transmission problem that desire soft timeliness. We present a certifiable solution to this problem that consists of switched Ethernet, a soft real-time packet scheduling algorithm (that was previously developed), and feasibility conditions.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122643562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199235
Y. Nakamoto
Recently mobile phones provide not only voice service but internet access, multi-media message services, games, local communication controller and so on. Therefore, more productive software platforms are required. We develop the next generation software platform based on Linux. In the paper, we describe a summary of the software platform. First, back grounds are mentioned, including recent and future functionalities in mobile phones. Then, we summarize requirements for mobile phone Linux. Third, we describe functionalities of middleware for the mobile phones on top of Linux. Lastly future trends in mobile phone software are presented.
{"title":"The next generation software platform for mobile phones","authors":"Y. Nakamoto","doi":"10.1109/ISORC.2003.1199235","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199235","url":null,"abstract":"Recently mobile phones provide not only voice service but internet access, multi-media message services, games, local communication controller and so on. Therefore, more productive software platforms are required. We develop the next generation software platform based on Linux. In the paper, we describe a summary of the software platform. First, back grounds are mentioned, including recent and future functionalities in mobile phones. Then, we summarize requirements for mobile phone Linux. Third, we describe functionalities of middleware for the mobile phones on top of Linux. Lastly future trends in mobile phone software are presented.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"44 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128889402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199254
N. Esau, B. Kleinjohann, L. Kleinjohann, Dirk Stichling
This paper presents VisiTrack, a novel approach for video based incremental tracking in real time. The major objectives in the development of VisiTrack was to design or select algorithms that are well suited for embedded real time computation. We had a special focus on latency reduction and storage minimization since the algorithms should run on mobile devices like PDAs with the appropriate extension, i.e. mainly a camera, in real time. The image analysis, position localization and error minimization of VisiTrack are explained in detail. For the image analysis algorithms of VisiTrack two major principles, linear processing and incremental concurrency, were defined and applied in order to fulfill real time constraints and reduce system latency. In order to meet real time requirements the position localization is based on a linear transformation between 3D world coordinates and 2D image coordinates. Afterwards a real time error minimization based on the Kalman filter is applied successfully. VisiTrack is applied in the Augmented Reality domain and in the field of robotic self localization.
{"title":"VisiTrack - video based incremental tracking in real time","authors":"N. Esau, B. Kleinjohann, L. Kleinjohann, Dirk Stichling","doi":"10.1109/ISORC.2003.1199254","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199254","url":null,"abstract":"This paper presents VisiTrack, a novel approach for video based incremental tracking in real time. The major objectives in the development of VisiTrack was to design or select algorithms that are well suited for embedded real time computation. We had a special focus on latency reduction and storage minimization since the algorithms should run on mobile devices like PDAs with the appropriate extension, i.e. mainly a camera, in real time. The image analysis, position localization and error minimization of VisiTrack are explained in detail. For the image analysis algorithms of VisiTrack two major principles, linear processing and incremental concurrency, were defined and applied in order to fulfill real time constraints and reduce system latency. In order to meet real time requirements the position localization is based on a linear transformation between 3D world coordinates and 2D image coordinates. Afterwards a real time error minimization based on the Kalman filter is applied successfully. VisiTrack is applied in the Augmented Reality domain and in the field of robotic self localization.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"332 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115975383","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199262
J. Kwon, A. Wellings, S. King
In this paper, we present the Ravenscar-Java profile from the perspective of memory utilization. This restricted programming model removes language features with high overheads and complex semantics, on which it is hard to perform various static analyses. Several classes in the RTSJ are refined, and a few new classes are added, which all result in a compact, yet powerful and predictable computational model for the development of software-intensive high integrity real-time systems. We provide rationales behind the decisions we have made on the use of memory areas and other language features that can have an effect on the predictability of memory utilization. After that, some analysis approaches are discussed in terms of how they can be developed and beneficially used.
{"title":"Predictable memory utilization in the Ravenscar-Java profile","authors":"J. Kwon, A. Wellings, S. King","doi":"10.1109/ISORC.2003.1199262","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199262","url":null,"abstract":"In this paper, we present the Ravenscar-Java profile from the perspective of memory utilization. This restricted programming model removes language features with high overheads and complex semantics, on which it is hard to perform various static analyses. Several classes in the RTSJ are refined, and a few new classes are added, which all result in a compact, yet powerful and predictable computational model for the development of software-intensive high integrity real-time systems. We provide rationales behind the decisions we have made on the use of memory areas and other language features that can have an effect on the predictability of memory utilization. After that, some analysis approaches are discussed in terms of how they can be developed and beneficially used.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131415686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199232
Seongsoo Hong
This paper presents an analysis of the future of Embedded Linux in the PostPC industry. This analysis is carried out by first examining the current forces at work in the PostPC market and how they effect Linux. Next, we look at the future trends in the PostPC market for the many types of devices we see in the market now and will see in the future and how well these trends can be addressed by Embedded Linux and other RTOSes in the marketplace. The third step in this analysis is to examine the qualities of Linux itself and what gives it an advantage in the marketplace as well as the challenges that accompany using Linux as an embedded platform. We address the challenges that Embedded Linux faces by proposing the need for the standardization of Embedded Linux. This means building a core standard for a kernel that is optimized for embedded systems, standard middleware profiles for powering different applications, and a standard for addressing intellectual property and software components.
{"title":"Embedded linux outlook in the PostPC industry","authors":"Seongsoo Hong","doi":"10.1109/ISORC.2003.1199232","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199232","url":null,"abstract":"This paper presents an analysis of the future of Embedded Linux in the PostPC industry. This analysis is carried out by first examining the current forces at work in the PostPC market and how they effect Linux. Next, we look at the future trends in the PostPC market for the many types of devices we see in the market now and will see in the future and how well these trends can be addressed by Embedded Linux and other RTOSes in the marketplace. The third step in this analysis is to examine the qualities of Linux itself and what gives it an advantage in the marketplace as well as the challenges that accompany using Linux as an embedded platform. We address the challenges that Embedded Linux faces by proposing the need for the standardization of Embedded Linux. This means building a core standard for a kernel that is optimized for embedded systems, standard middleware profiles for powering different applications, and a standard for addressing intellectual property and software components.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123174428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199243
Simon Pears, Jie Xu, C. Boldyreff
Fault tolerance schemes for mobile agents to survive agent server crash failures are complex since developers normally have no control over remote agent servers. Some solutions inject a replica into stable storage upon its arrival at an agent server. However in the event of an agent server crash the replica is unavailable until the agent server recovers. This paper presents a failure model and a revised exception handling framework for mobile agent systems. An exception handler design is presented for mobile agents to survive agent server crash failures. A replica mobile agent operates at the agent server visited prior to its master's current location. If a master crashes its replica is available as a replacement. Experimental evaluation is performed and performance results are used to suggest some useful design guidelines.
{"title":"A dynamic shadow approach for mobile agents to survive crash failures","authors":"Simon Pears, Jie Xu, C. Boldyreff","doi":"10.1109/ISORC.2003.1199243","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199243","url":null,"abstract":"Fault tolerance schemes for mobile agents to survive agent server crash failures are complex since developers normally have no control over remote agent servers. Some solutions inject a replica into stable storage upon its arrival at an agent server. However in the event of an agent server crash the replica is unavailable until the agent server recovers. This paper presents a failure model and a revised exception handling framework for mobile agent systems. An exception handler design is presented for mobile agents to survive agent server crash failures. A replica mobile agent operates at the agent server visited prior to its master's current location. If a master crashes its replica is available as a replacement. Experimental evaluation is performed and performance results are used to suggest some useful design guidelines.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127127211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199230
T. Heimfarth, M. Götz, F. Rammig, F. Wagner
This paper describes RTC, a partially object-oriented middleware inspired on the ISO/OSI standard that implements a complete real-time communication platform on a cluster running under real-time Linux. Media Access Control (MAC) is implemented by means of a modified TDMA protocol, and at the application level a channel-oriented communication is provided. The RTC platform guarantees a bandwidth for each channel, which makes it attractive for multimedia applications, which currently is the main application considered. In addition, RTC supports non-real-time traffic using TCP/IP, for instance. The platform has two principal components: the communication protocols implemented as modules of the Linux/RTAI operating system and the user space API (Application Program Interface) implemented in a object-oriented manner and based on the LXRT feature of the RTAI. Furthermore, the non-real-time capabilities are supported by a software layer in the kernel of Linux. Currently, SCI is used as underlying communication network. SCI has been selected due to its low latency, low jitter and high bandwidth[6]. RTC, however has been designed to support other network technologies as well. Included in the paper are performance evaluation results that demonstrate the real-time properties of RTC.
{"title":"RTC: a real-time communication middleware on top of RTAI-Linux","authors":"T. Heimfarth, M. Götz, F. Rammig, F. Wagner","doi":"10.1109/ISORC.2003.1199230","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199230","url":null,"abstract":"This paper describes RTC, a partially object-oriented middleware inspired on the ISO/OSI standard that implements a complete real-time communication platform on a cluster running under real-time Linux. Media Access Control (MAC) is implemented by means of a modified TDMA protocol, and at the application level a channel-oriented communication is provided. The RTC platform guarantees a bandwidth for each channel, which makes it attractive for multimedia applications, which currently is the main application considered. In addition, RTC supports non-real-time traffic using TCP/IP, for instance. The platform has two principal components: the communication protocols implemented as modules of the Linux/RTAI operating system and the user space API (Application Program Interface) implemented in a object-oriented manner and based on the LXRT feature of the RTAI. Furthermore, the non-real-time capabilities are supported by a software layer in the kernel of Linux. Currently, SCI is used as underlying communication network. SCI has been selected due to its low latency, low jitter and high bandwidth[6]. RTC, however has been designed to support other network technologies as well. Included in the paper are performance evaluation results that demonstrate the real-time properties of RTC.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130821236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2003-05-14DOI: 10.1109/ISORC.2003.1199236
H. Kopetz, N. Suri
Composition of a system is driven by the (a) identification and specification of basic components, and (b) specification of the interactions across the components, i.e., the communication linkages, that are needed to communicate value and temporal information across the components from which the aggregate system results. This paper addresses compositional design of distributed Real-Time (RT) systems focusing specifically on the role of specification of linking interfaces (LIFs) across components.
{"title":"Compositional design of RT systems: a conceptual basis for specification of linking interfaces","authors":"H. Kopetz, N. Suri","doi":"10.1109/ISORC.2003.1199236","DOIUrl":"https://doi.org/10.1109/ISORC.2003.1199236","url":null,"abstract":"Composition of a system is driven by the (a) identification and specification of basic components, and (b) specification of the interactions across the components, i.e., the communication linkages, that are needed to communicate value and temporal information across the components from which the aggregate system results. This paper addresses compositional design of distributed Real-Time (RT) systems focusing specifically on the role of specification of linking interfaces (LIFs) across components.","PeriodicalId":204411,"journal":{"name":"Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121927843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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