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2015 International Conference on Embedded Software (EMSOFT)最新文献

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Building a hybrid systems modeler from synchronous language principles 根据同步语言原则构建混合系统建模器
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318267
Marc Pouzet
Hybrid systems modeling languages are widely used in the development of embedded systems. Two representatives are Simulink/Stateflow1 that combine Ordinary Differential Equations (ODEs), data-flow and difference equations, hierarchical automata a la StateCharts [14] together with imperative features; and the Modelica language [1]2 based on DAEs with features for modeling discrete components. Ptolemy II3 is another example in which several models of computation are combined [15]. The formal verification of hybrid systems has been extensively studied [9]. Yet, we share the viewpoint of Lee and Zheng that hybrid modeling languages are best viewed as programming languages that happen to have a hybrid systems semantics [16, 17]. This raises important questions related to their design, semantics and implementation, to get efficient and reliable simulations as well as provably equivalent embedded target code. While sequential code generation in hybrid modeling tools is routinely used for efficient simulation, it is little used or not used at all to produce target embedded code in critical applications that are submitted to strong safety requirements. This results in a break in the development chain: parts of applications must be rewritten into sequential code and all properties verified on the source model cannot be trusted and have to be reverified on the target code.
混合系统建模语言在嵌入式系统开发中得到了广泛的应用。两个代表是Simulink/Stateflow1,它结合了常微分方程(ode)、数据流和差分方程、分层自动机和StateCharts[14]以及命令式特征;以及基于DAEs的Modelica语言[1]2,这些DAEs具有对离散组件建模的特征。托勒密II3是另一个将几种计算模型结合在一起的例子[15]。混合系统的形式验证已经得到了广泛的研究[9]。然而,我们同意Lee和Zheng的观点,即混合建模语言最好被视为碰巧具有混合系统语义的编程语言[16,17]。这提出了与它们的设计、语义和实现相关的重要问题,以获得高效可靠的模拟以及可证明的等效嵌入式目标代码。虽然混合建模工具中的顺序代码生成通常用于高效模拟,但在提交强烈安全要求的关键应用程序中,很少使用或根本不使用顺序代码生成目标嵌入代码。这导致了开发链的中断:应用程序的部分必须重写为顺序代码,并且源模型上验证的所有属性都不可信,必须在目标代码上进行重新验证。
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引用次数: 1
Data mining approach to temporal debugging of embedded streaming applications 基于数据挖掘的嵌入式流应用程序实时调试方法
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318272
Oleg Iegorov, V. Leroy, A. Termier, J. Méhaut, M. Santana
One of the greatest challenges in the embedded systems area is to empower software developers with tools that speed up the debugging of QoS properties in applications. Typical streaming applications, such as multimedia (audio/video) decoding, fulfill the QoS properties by respecting the real-time deadlines. A perfectly functional application, when missing these deadlines, may lead to cracks in the sound or perceptible artifacts in the image. We start from the premise that most of the streaming applications that run on embedded systems can be expressed under a data ow model of computation, where the application is represented as a directed graph of the data flowing through computational units called actors. It has been shown that in order to meet real-time constraints the actors should be scheduled in a periodic manner. We exploit this property to propose SATM - a novel approach based on data mining techniques that automatically analyzes execution traces of streaming applications, and discovers significant breaks in the periodicity of actors, as well as potential causes of these breaks. We show on a real use case that our debugging approach can uncover important defects and pinpoint their location to the application developer.
嵌入式系统领域最大的挑战之一是为软件开发人员提供加速应用程序中QoS属性调试的工具。典型的流媒体应用,如多媒体(音频/视频)解码,通过尊重实时截止日期来实现QoS属性。一个功能完美的应用程序,如果错过了这些截止日期,可能会导致声音出现裂缝或图像中出现可察觉的伪影。我们从一个前提开始,即在嵌入式系统上运行的大多数流应用程序可以在计算的数据流模型下表示,其中应用程序被表示为流经称为actor的计算单元的数据的有向图。研究表明,为了满足实时约束,参与者应该以周期性的方式进行调度。我们利用这一特性提出了SATM——一种基于数据挖掘技术的新方法,可以自动分析流应用程序的执行轨迹,并发现参与者周期性中的重大中断,以及这些中断的潜在原因。我们在一个真实的用例中展示了我们的调试方法可以发现重要的缺陷,并为应用程序开发人员确定它们的位置。
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引用次数: 11
Executing dataflow actors as kahn processes 将数据流参与者作为kahn进程执行
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318265
Andreas Tretter, J. Boutellier, James Guthrie, Lars Schor, L. Thiele
Programming models which specify an application as a network of independent computational elements have emerged as a promising paradigm for programming streaming applications. The antagonism between expressivity and analysability has led to a number of different such programming models, which provide different degrees of freedom to the programmer. One example are Kahn process networks (KPNs), which, due to certain restrictions in communication, can guarantee determinacy (their results are independent of timing by construction). On the other hand, certain dataflow models, such as the CAL Actor Language, allow non-determinacy and thus higher expressivity, however at the price of static analysability and thus a potentially less efficient implementation. In many cases, however, non-determinacy is not required (or even not desired), and relying on KPN for the implementation seems advantageous. In this paper, we propose an algorithm for classifying dataflow actors (i.e. computational elements) as KPN compatible or potentially not. For KPN compatible dataflow actors, we propose an automatic KPN translation method based on this algorithm. In experiments, we show that more than 75% of all mature actors of a standard multimedia benchmark suite can be classified as KPN compatible and that their execution time can be reduced by up to 1.97x using our proposed translation technique. Finally, in a manual classification effort, we validate these results and list different classes of KPN incompatibility.
将应用程序指定为独立计算元素网络的编程模型已经成为编程流应用程序的一个有前途的范例。表达性和可分析性之间的对立导致了许多不同的编程模型,这些模型为程序员提供了不同程度的自由。一个例子是Kahn过程网络(kpn),由于通信中的某些限制,它可以保证确定性(它们的结果与构建的时间无关)。另一方面,某些数据流模型,例如CAL Actor语言,允许非确定性,从而具有更高的表达性,但是以静态可分析性为代价,从而可能降低实现的效率。然而,在许多情况下,不需要(甚至不希望)不确定性,并且依靠KPN实现似乎是有利的。在本文中,我们提出了一种算法,用于将数据流参与者(即计算元素)分类为KPN兼容或不兼容。针对KPN兼容的数据流参与者,提出了一种基于该算法的KPN自动转换方法。在实验中,我们表明,超过75%的标准多媒体基准测试套件的成熟参与者可以被归类为KPN兼容,并且使用我们提出的翻译技术,它们的执行时间最多可以减少1.97倍。最后,在手工分类工作中,我们验证了这些结果并列出了KPN不兼容性的不同类别。
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引用次数: 6
Adaptive runtime shaping for mixed-criticality systems
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318255
Biao Hu, Kai Huang, Gang Chen, Long Cheng, A. Knoll
This paper investigates runtime shaping for mixed-criticality systems to increase the system QoS. Unlike the previous work in the literature that enforces an offline workload bound, an adaptively shaping approach is proposed where the incoming workload of the low-critical tasks is regulated by the actual demand of the high-critical tasks. This actual demand is adaptively updated using the historical arrival information of the high-critical tasks and thus can maximize the runtime QoS of low-critical tasks. To reduce the online overheads of computing the workload demand, a lightweight scheme with the complexity of O(n log(m)) is developed. Experiments are also provided to demonstrate the effectiveness and efficiency of our approach.
本文研究了混合临界系统的运行时整形,以提高系统的服务质量。与以往文献中强制设置离线工作负载边界不同,本文提出了一种自适应塑造方法,其中低关键任务的传入工作负载由高关键任务的实际需求调节。使用高关键任务的历史到达信息自适应地更新实际需求,从而可以最大化低关键任务的运行时QoS。为了减少计算工作负载需求的在线开销,提出了复杂度为O(n log(m))的轻量级方案。实验也证明了该方法的有效性和高效性。
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引用次数: 16
Distributed power management of real-time applications on a GALS multiprocessor SOC GALS多处理器SOC上实时应用的分布式电源管理
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318270
Andrew Nelson, K. Goossens
It is generally desirable to reduce the power consumption of embedded systems. Dynamic Voltage and Frequency Scaling (DVFS) is a commonly applied technique to achieve power reduction at the cost of computational performance. Multiprocessor System on Chips (MPSoCs) can have multiple voltage and frequency domains, e.g. per-core. When DVFS is applied to real-time applications, the effects must be accounted for in the associated formal timing model. In this work, we contribute our distributed multi-core run-time power-management technique for real-time dataflow applications that uses per-core lookup-tables to select low-power DVFS operating points that meet the application's timing requirement. We describe in detail how timing slack is observed locally at run-time on each core and is used to select a local DVFS operating point that meets the application's timing requirement. We further describe our static off-line formal analysis technique to generate these per-core lookup-tables that link timing slack to low-power DVFS operating points. We provide an experimental analysis of our proposed technique using an H.263 decoder application that is mapped onto an FPGA prototyped hardware platform.
通常希望降低嵌入式系统的功耗。动态电压和频率缩放(DVFS)是一种以牺牲计算性能为代价实现功耗降低的常用技术。多处理器片上系统(mpsoc)可以有多个电压和频域,例如每核。当DVFS应用于实时应用程序时,必须在相关的正式定时模型中考虑其影响。在这项工作中,我们为实时数据流应用程序提供了分布式多核运行时电源管理技术,该技术使用每核查找表来选择满足应用程序时序要求的低功耗DVFS操作点。我们详细描述了如何在每个内核运行时本地观察到时序松弛,并使用它来选择满足应用程序时序要求的本地DVFS操作点。我们进一步描述了我们的静态离线形式分析技术,以生成这些将定时松弛连接到低功耗DVFS工作点的每核查询表。我们使用映射到FPGA原型硬件平台的H.263解码器应用程序对我们提出的技术进行了实验分析。
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引用次数: 3
Using traffic phase shifting to improve AFDX link utilization 利用流量移相提高AFDX链路利用率
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318281
R. Mancuso, Andrew V. Louis, M. Caccamo
The Avionic Full-Duplex Switched Ethernet (AFDX) is a data network certified for avionic operations. AFDX closely follows the IEEE 802.3 (Ethernet) standard for packet forwarding. On top of that, bandwidth enforcement using traffic shaping is performed to provide deterministic delivery guarantees. The design of an AFDX network, however, imposes that bandwidth enforcement is performed at a coarse granularity. This, together with the tight requirements on transmission jitter, determines a low utilization of the physical links. In this work, we propose traffic phase shifting (TPS) as a way to increase the granularity of bandwidth assignment to nodes of an AFDX network using logic time synchronization among traffic sources. Specifically, we leverage the periodic nature of real-time traffic and use phase-shifing to prevent link congestion. This in turns allows a more fine-grained bandwidth control via the AFDX protocol. We show that TPS leads to significant improvements in terms of per-link utilization without violating predictability.
航空电子全双工交换以太网(AFDX)是一种经过航空电子操作认证的数据网络。AFDX严格遵循IEEE 802.3(以太网)数据包转发标准。最重要的是,执行使用流量整形的带宽强制,以提供确定性的交付保证。然而,AFDX网络的设计要求带宽强制以粗粒度执行。这一点,加上对传输抖动的严格要求,决定了物理链路的利用率很低。在这项工作中,我们提出流量相移(TPS)作为一种使用流量源之间的逻辑时间同步来增加AFDX网络节点带宽分配粒度的方法。具体来说,我们利用实时流量的周期性并使用相移来防止链路拥塞。这反过来又允许通过AFDX协议进行更细粒度的带宽控制。我们表明,TPS在不违反可预测性的情况下显著改善了每链路的利用率。
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引用次数: 9
Towards an industrial use of sound static analysis for the verification of concurrent embedded avionics software 面向工业应用健全的静态分析验证并行嵌入式航电软件
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318261
A. Miné, David Delmas
Formal methods, and in particular sound static analyses, have been recognized by Certification Authorities as reliable methods to certify embedded avionics software. For sequential C software, industrial static analyzers, such as Astree, already exist and are deployed. This is not the case for concurrent C software. This article discusses the requirements for sound static analysis of concurrent embedded software at Airbus and presents AstreeA, an extension of Astree with the potential to address these requirements: it is scalable and reports soundly all run-time errors with few false positives. We illustrate this potential on a variety of case studies targeting different avionics software components, including large ARINC 653 and POSIX threads applications, and a small part of an operating system. While the experiments on some case studies were conducted in an academic setting, others were conducted in an industrial setting by engineers, hinting at the maturity of our approach.
正式方法,特别是声音静态分析,已经被认证机构认可为认证嵌入式航空电子软件的可靠方法。对于顺序C软件,工业静态分析器,如Astree,已经存在并部署。这不是并发C软件的情况。本文讨论了空中客车公司对并发嵌入式软件进行可靠静态分析的需求,并介绍了AstreeA,它是Astree的扩展,具有解决这些需求的潜力:它具有可伸缩性,并且可以可靠地报告所有运行时错误,几乎没有误报。我们通过针对不同航空电子软件组件的各种案例研究来说明这种潜力,包括大型ARINC 653和POSIX线程应用程序,以及操作系统的一小部分。虽然一些案例研究的实验是在学术环境中进行的,但其他案例研究是由工程师在工业环境中进行的,这表明我们的方法已经成熟。
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引用次数: 21
Modeling and simulating cyber-physical systems using CyPhySim 使用CyPhySim建模和模拟网络物理系统
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318266
Edward A. Lee, M. Niknami, Thierry S. Nouidui, M. Wetter
This paper describes an open-source simulator for cyberphysical systems called CyPhySim that is based on Ptolemy II. This simulator supports classical (Runge-Kutta) and quantized-state simulation of ordinary differential equations, modal models (hybrid systems), discrete-event models, the Functional Mockup Interface (FMI) for model-exchange and co-simulation, discrete-time (periodic) systems, and algebraic loop solvers. CyPhySim provides a graphical editor, an XML file syntax for models, and an open API for programmatic construction of models. It includes an innovation called "smooth tokens," which allow for a blend of numerical and symbolic computation, and for certain kinds of system models, dramatically reducing the computation required for simulation.
本文描述了一个基于托勒密二世的网络物理系统的开源模拟器CyPhySim。该模拟器支持经典(龙格-库塔)和常微分方程的量化状态仿真,模态模型(混合系统),离散事件模型,用于模型交换和联合仿真的功能模拟接口(FMI),离散时间(周期)系统和代数循环求解器。CyPhySim提供了图形化编辑器、用于模型的XML文件语法和用于模型的编程构造的开放API。它包括一项名为“平滑令牌”的创新,它允许数值和符号计算的混合,以及某些类型的系统模型,大大减少了模拟所需的计算。
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引用次数: 33
Managing gpu buffers for caching more apps in mobile systems 管理gpu缓冲区,以便在移动系统中缓存更多应用程序
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318276
Sejun Kwon, Sang-Hoon Kim, Jin-Soo Kim, Jinkyu Jeong
Modern mobile systems cache apps actively to quickly respond to a user's call to launch apps. Since the amount of usable memory is critical to the number of cacheable apps, it is important to maximize memory utilization. Meanwhile, modern mobile apps make use of graphics processing units (GPUs) to accelerate their graphic operations and to provide better user experience. In resource-constrained mobile systems, GPU cannot afford its private memory but shares the main memory with CPU. It leads to a considerable amount of main memory to be allocated for GPU buffers which are used for processing GPU operations. These GPU buffers are, however, not managed effectively so that inactive GPU buffers occupy a large fraction of the memory and decrease memory utilization. This paper proposes a scheme to manage GPU buffers to increase the memory utilization in mobile systems. Our scheme identifies inactive GPU buffers by exploiting the state of an app from a user's perspective, and reduces their memory footprint by compressing them. Our sophisticated design approach prevents GPU-specific issues from causing an unpleasant overhead. Our evaluation on a running prototype with realistic workloads shows that the proposed scheme can secure up to 215.9 MB of extra memory from 1.5 GB of main memory and increase the average number of cached apps by up to 31.3%.
现代移动系统主动缓存应用程序,以快速响应用户启动应用程序的请求。由于可用内存的数量对可缓存应用程序的数量至关重要,因此最大化内存利用率非常重要。与此同时,现代移动应用程序利用图形处理单元(gpu)来加速图形操作,并提供更好的用户体验。在资源受限的移动系统中,GPU负担不起自己的私有内存,只能与CPU共享主内存。这导致相当多的主内存被分配给GPU缓冲区,用于处理GPU操作。然而,这些GPU缓冲区没有得到有效管理,因此非活动GPU缓冲区占用了很大一部分内存并降低了内存利用率。为了提高移动系统的内存利用率,本文提出了一种管理GPU缓冲区的方案。我们的方案通过从用户的角度利用应用程序的状态来识别非活动GPU缓冲区,并通过压缩它们来减少内存占用。我们复杂的设计方法可以防止gpu特定问题导致不愉快的开销。我们对具有实际工作负载的运行原型的评估表明,所提出的方案可以从1.5 GB的主内存中获得高达215.9 MB的额外内存,并将缓存应用程序的平均数量增加31.3%。
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引用次数: 7
Requirements driven falsification with coverage metrics 需求驱动的覆盖度量的伪造
Pub Date : 2015-10-04 DOI: 10.1109/EMSOFT.2015.7318257
Adel Dokhanchi, Aditya Zutshi, R. Sriniva, S. Sankaranarayanan, Georgios Fainekos
Specication guided falsication methods for hybrid systems have recently demonstrated their value in detecting design errors in models of safety critical systems. In specication guided falsication, the correctness problem, i.e., does the system satisfy the specication, is converted into an optimization problem where local negative minima indicate design errors. Due to the complexity of the resulting optimization problem, the problem is solved iteratively by performing a number of simulations on the system. Even though it is theoretically guaranteed that falsication methods will eventually find the bugs in the system, in practice, the performance of these methods, i.e., how many tests/simulations are executed before a bug is detected, depends on the specication, on the system and on the optimization method. In this paper, we define and utilize coverage metrics on the state space of hybrid systems in order to improve the performance of the falsication methods.
规范指导的混合系统伪造方法最近在检测安全关键系统模型中的设计错误方面显示了它们的价值。在规范指导下,将系统是否满足规范的正确性问题转化为优化问题,其中局部负极小值表示设计误差。由于所得到的优化问题的复杂性,该问题是通过在系统上进行多次模拟来迭代求解的。尽管理论上可以保证伪造方法最终会发现系统中的错误,但在实践中,这些方法的性能,即在检测到错误之前执行了多少测试/模拟,取决于规范,取决于系统和优化方法。本文在混合系统的状态空间上定义并利用了覆盖度量,以提高伪证方法的性能。
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引用次数: 27
期刊
2015 International Conference on Embedded Software (EMSOFT)
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