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2015 IEEE 13th International Conference on Embedded and Ubiquitous Computing最新文献

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Reconfiguration-Aware Task Graph Scheduling 重构感知任务图调度
H. Kooti, E. Bozorgzadeh
Due to increasing demand for reconfigurability in embedded systems, real-time task scheduling is challenged by non-negligible reconfiguration overheads. We introduce the problem of real-time task scheduling under reconfiguration overhead on heterogeneous reconfigurable systems while considering the data dependencies and data communication overhead. We introduce a novel graph representation which captures the delay overhead due to data dependencies and reconfiguration. We formulate the problem as a network flow problem and provide a mixed integer linear programming solution to minimize the completion time so called makespan. Results show that our proposed scheduling improves the makespan by 24.20% (on average) in comparison with maximum-transition-overhead scheduling.
由于嵌入式系统对可重构性的要求越来越高,实时任务调度受到不可忽略的重构开销的挑战。在考虑数据依赖和数据通信开销的情况下,引入异构可重构系统在可重构开销下的实时任务调度问题。我们引入了一种新的图表示,它捕获了由于数据依赖和重新配置引起的延迟开销。我们将该问题表述为一个网络流问题,并提供了一个混合整数线性规划解决方案,以最小化完工时间,即所谓的makespan。结果表明,与最大迁移开销调度相比,我们提出的调度平均提高了24.20%的完工时间。
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引用次数: 6
Scalable Simulation of Wireless Electro-Magnetic Nanonetworks 无线电磁纳米网络的可扩展仿真
Nicolas Boillot, D. Dhoutaut, J. Bourgeois
Very small autonomous robots could cooperate to solve an almost infinite number of problems. Prototypes of such robots do already exist at the micro scale and even smaller ones are expected. Yet allowing them to wirelessly communicate considerably enhance their possible usages. In this paper, we revisit Vouivre, a nano-wireless simulation library we previously developed. Micro or nano-robots will be possibly be numerous and we needed to integrate new ideas to enhance the scalability of Vouivre. Using the specificities of the Terahertz radio channel as a foundation, we discuss and present an implementation that allows simulation of a larger number of concurrent transmissions between an even larger number of individual elements.
非常小的自主机器人可以合作解决几乎无数的问题。这种微型机器人的原型已经存在,更小的机器人有望问世。然而,允许它们进行无线通信大大增加了它们的可能用途。在本文中,我们重新审视了我们之前开发的纳米无线模拟库Vouivre。微型或纳米机器人可能会大量出现,我们需要整合新的想法来增强Vouivre的可扩展性。利用太赫兹无线电信道的特殊性作为基础,我们讨论并提出了一种实现,该实现允许在更多的单个元素之间模拟更大量的并发传输。
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引用次数: 1
Fast and Scalable Thread Migration for Multi-core Architectures 快速和可扩展的多核架构线程迁移
Miguel Rodrigues, N. Roma, P. Tomás
Heterogeneous computing is a promising approach to tackle the thermal, power and energy constraints posed by modern desktop and embedded computing systems. However, by also allowing the migration of application threads to the most appropriate cores, significant performance gains and energy efficiency levels can also be attained. Nevertheless, the considerably large overheads usually imposed by software-based thread migration procedures only allow exploiting migrations at a coarse-grained level, thus limiting the effectiveness of using such techniques. Accordingly, this paper proposes a fast and efficient hardware-based thread migration mechanism that can be easily plugged-in into any core architecture. To minimize the thread migration overhead and latency, the proposed approach considers both soft-and hard-migration procedures, and adopts a conventional "most recently used" prediction scheme to identify the cache blocks that should be migrated along with the thread context. Experimental results show that the proposed scheme is lightweight and requires limited hardware resources, while allowing to attain migration latencies below 100 clock cycles and to reduce post-migration overheads in up to 60%, making it particularly appropriate for exploiting short-lived application phases.
异构计算是解决现代桌面和嵌入式计算系统所带来的热、功率和能量限制的一种很有前途的方法。然而,通过允许将应用程序线程迁移到最合适的核心,还可以获得显著的性能提升和能效水平。然而,基于软件的线程迁移过程通常带来的相当大的开销只允许在粗粒度级别上利用迁移,从而限制了使用此类技术的有效性。因此,本文提出了一种快速高效的基于硬件的线程迁移机制,该机制可以很容易地插入到任何核心体系结构中。为了最小化线程迁移开销和延迟,建议的方法同时考虑软迁移和硬迁移过程,并采用传统的“最近使用的”预测方案来识别应该随线程上下文一起迁移的缓存块。实验结果表明,所提出的方案是轻量级的,需要有限的硬件资源,同时允许获得低于100个时钟周期的迁移延迟,并减少迁移后开销高达60%,使其特别适合利用短暂的应用程序阶段。
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引用次数: 6
Synthesizable-from-C Embedded Processor Based on MIPS-ISA and OISC 基于MIPS-ISA和OISC的可合成嵌入式处理器
Tanvir Ahmed, N. Sakamoto, J. Anderson, Yuko Hara-Azumi
We describe a lightweight open-source MIPS-ISA processor, wherein performance and area can be flexibly traded-off with one another. The processor contains an ultra-low-cost co-processor capable of executing programs comprised of SUBLEQ instructions (subtract and branch if the difference is ≤ 0), which recent work has shown to be sufficient for any computation. Area/performance trade-offs are realized by implementing a user-selectable subset of MIPS instructions with functionally equivalent SUBLEQ sub-routines that run on the coprocessor. Silicon area is reduced as more MIPS instructions are implemented with the co-processor, rather than "natively" using functional units within the host MIPS. The processor is described in the C language and synthesized to an FPGA hardware implementation with high-level synthesis (HLS). Since it is specified at a high level of abstraction, it is straightforward to tailor to any application. As such, the processor can be viewed as a family of processors with different area/performance/power characteristics. In an experimental study, we compare a variety of processor variants, wherein different subsets of MIPS instructions are handled by the co-processor. We also compare the proposed synthesizable processor with a hand-designed 5-pipeline-stage MIPS implementation, and achieve area reductions ranging from 2.5 - 4×.
我们描述了一个轻量级的开源MIPS-ISA处理器,其中性能和面积可以灵活地相互权衡。该处理器包含一个超低成本的协处理器,能够执行由SUBLEQ指令组成的程序(如果差值≤0,则进行减法和分支),最近的研究表明,这对于任何计算都是足够的。区域/性能权衡是通过实现用户可选择的MIPS指令子集和在协处理器上运行的功能等效的SUBLEQ子例程来实现的。随着更多的MIPS指令使用协处理器实现,而不是“本地”使用主机MIPS中的功能单元,硅面积减少了。该处理器用C语言描述,并通过高级综合(high-level synthesis, HLS)将其合成为FPGA硬件实现。由于它是在高抽象级别上指定的,因此可以直接针对任何应用程序进行定制。因此,处理器可以被视为具有不同面积/性能/功率特性的处理器系列。在一项实验研究中,我们比较了各种处理器变体,其中由协处理器处理的MIPS指令的不同子集。我们还将提出的可合成处理器与手工设计的5流水线级MIPS实现进行了比较,并实现了2.5 - 4倍的面积缩小。
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引用次数: 9
Pattern-Based Approach for Designing Fail-Operational Safety-Critical Embedded Systems 基于模式的故障运行安全关键型嵌入式系统设计方法
D. O. D. Penha, Gereon Weiss, Alexander Stante
To deal with fail-operational (FO) requirements in today's safety-critical networked embedded systems (SCNES), engineers have to resort to concepts such as redundancy, monitoring, and special shutdown procedures. Hardware-based redundancy approaches are not applicable to many embedded systems domains (e.g., automotive systems), because of prohibitive costs. In this scenario, adaptability concepts can be used to fulfill these FO requirements while enabling optimized resource utilization. However, the applicability of such concepts highly depends on the support for the engineering during system development. We propose an approach to cope with the challenges of fail-operational behavior of SCNES in which engineers are supported by design concepts for realizing safety, reliability, and adaptability requirements through the use of architectural patterns. The approach allows expressing FO concepts at the software architecture level. This lowers the effort for developing SCNES by utilizing generic patterns for general and reoccurring mechanisms.
为了处理当今安全关键型网络嵌入式系统(SCNES)中的故障操作(FO)要求,工程师不得不求助于冗余、监控和特殊关闭程序等概念。基于硬件的冗余方法不适用于许多嵌入式系统领域(例如,汽车系统),因为成本过高。在此场景中,可使用适应性概念来满足这些FO需求,同时支持优化的资源利用。然而,这些概念的适用性在很大程度上取决于系统开发过程中对工程的支持。我们提出了一种方法来应对SCNES故障操作行为的挑战,其中工程师通过使用架构模式来支持实现安全性,可靠性和适应性要求的设计概念。该方法允许在软件架构级别表达FO概念。通过为一般和重复出现的机制使用通用模式,这降低了开发sces的工作量。
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引用次数: 10
Scalable Embedded Systems: Towards the Convergence of High-Performance and Embedded Computing 可扩展嵌入式系统:迈向高性能和嵌入式计算的融合
R. Giorgi
Embedded System toolchains are highly customized for a specific System-on-Chip (SoC). When the application needs more performance, the designer is typically forced to adopt a new SoC and possibly another toolchain. The rationale for not scaling performance by using, e.g., two SoCs, is that maintining most of the operations on-chip may allow for higher energy efficiency. We are exploring the feasibility and trade-offs of designing and manufacturing a new Single Board Computer (SBC) that could serve flexibly for a number of current and future applications, by allowing scalability through clusters of SBCs while keeping the same programming model for the SBC. This board is based on FPGAs and embedded processors, and its key points are: i) a fast custom interconnect for board-to-board communication and ii) an easily programmable environment which would allow both the off-loading of code into accelerators (either soft-IP blocks or hard-IP blocks) and, at the same time, the distribution of computation across boards. A key challenge to successfully deploying this paradigm is to properly distribute the threads across several boards without the explicit intervention of the programmer. In this paper we describe how to dynamically and efficiently distribute the computational threads in symbiosis with an appropriate memory model to allow the system scalability, so that we can double the performance by simply connecting two boards without i) changing the basic hardware components (e.g., to a different System-On-Chip) and ii) changing the programming model to follow the vendor specific toolchain. Our approach is to reduce data movement across boards. Our initial experiments have confirmed the feasibility of our approach.
嵌入式系统工具链是为特定的片上系统(SoC)高度定制的。当应用程序需要更高的性能时,设计人员通常被迫采用新的SoC和可能的另一个工具链。不通过使用(例如两个soc)来扩展性能的理由是,在芯片上维持大多数操作可能会允许更高的能源效率。我们正在探索设计和制造一种新的单板计算机(SBC)的可行性和权衡,这种计算机可以灵活地为许多当前和未来的应用服务,通过允许SBC集群的可扩展性,同时保持SBC的相同编程模型。该板基于fpga和嵌入式处理器,其关键点是:i)板对板通信的快速自定义互连和ii)易于编程的环境,该环境允许将代码卸载到加速器(软ip块或硬ip块)中,同时,跨板的计算分布。成功部署此范例的一个关键挑战是,在没有程序员显式干预的情况下,正确地将线程分布在多个电路板上。在本文中,我们描述了如何动态有效地分布计算线程与一个适当的内存模型共生,以允许系统的可扩展性,因此我们可以通过简单地连接两个板,而无需i)改变基本硬件组件(例如,到一个不同的片上系统)和ii)改变编程模型,以遵循供应商特定的工具链,从而使性能翻倍。我们的方法是减少跨部门的数据移动。我们的初步实验证实了我们方法的可行性。
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引用次数: 21
Linux SCHED DEADLINE vs. MARTOP-EDF Linux SCHED截止日期vs. MARTOP-EDF
A. Stahlhofen, Dieter Zöbel
The theoretical background of real-time scheduling has been studied intensively by researchers in this community. A myriad of scheduling policies and sophisticated variations are principally available to be implemented at an operating system level or a middleware level. However, the number of implementations is far behind the number of publications and in the majority of cases they never reach a status beyond prototypes. This is a pitiful situation given that today there is a generation of processor boards waiting for adventurous developers to design and program time-critical embedded applications. The paragon here may be seen in the Raspberry Pi board, but several others also belong to this category (e.g. Cubietruck, Banana Pi). Offering a ready-to-use real-time programming framework is a basic concern of the MARTOP (Mapping real-time to POSIX) project. In order to address a broad range of platforms the approach is independent of a particular operating system only relying on POSIX as intermediate API. As there is another prominent approach to increase the availability of real-time scheduling we are going to compare both with each other. The already prominent one is the EDF-implementation for Linux called SCHED_DEADLINE which is part of the Linux standard kernel since version 3.14. The application scopes of both approaches are completely different. So, MARTOP principally allows any scheduling strategy and several fixed priority scheduling strategies are already available. However, the exciting is that both meet at the EDF-implementation and will be compared not only under the aspect of performance, but equally respecting overhead and robustness.
实时调度的理论背景已经引起了业界的广泛关注。大量的调度策略和复杂的变体主要可以在操作系统级别或中间件级别实现。然而,实现的数量远远落后于发布的数量,并且在大多数情况下,它们从未达到超出原型的状态。这是一个令人遗憾的情况,因为今天有一代处理器板等待冒险的开发人员设计和编程时间紧迫的嵌入式应用程序。这里的典范可以在树莓派板中看到,但其他几个也属于这一类(例如Cubietruck,香蕉派)。提供一个现成的实时编程框架是MARTOP(将实时映射到POSIX)项目的一个基本关注点。为了处理广泛的平台,该方法独立于特定的操作系统,仅依赖POSIX作为中间API。由于还有另一种突出的方法可以提高实时调度的可用性,我们将对这两种方法进行比较。已经很突出的一个是Linux上的edf实现,称为SCHED_DEADLINE,它从3.14版开始就是Linux标准内核的一部分。这两种方法的适用范围完全不同。因此,MARTOP主要支持任何调度策略,并且已有几种固定优先级的调度策略可用。然而,令人兴奋的是,两者都在edf实现中相遇,并且不仅在性能方面进行比较,而且在开销和健壮性方面进行比较。
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引用次数: 1
Lua-Based Virtual Machine Platform for Spacecraft On-Board Control Software 基于lua的航天器机载控制软件虚拟机平台
Sihyeong Park, Hyungshin Kim, Soo-Yeong Kang, Cheol-hea Koo, Hyunwoo Joe
Mission critical embedded software for autonomous operation requires high development cost due to its long development cycle. One of the potential solutions for reducing the cost is to reuse the software developed at previous missions. Virtual machine platform such as JVM is a good example to provide code portability across various missions. Flight software in aerospace field is adopting this concept to improve reusability and eventually to reduce development cost. In this paper, we propose a Lua-based virtualization environment for spacecraft flight software. Flight software for spacecraft control consists of a few tasks that are highly autonomous. Lua is chosen as the script language for programming the control tasks. Though Lua was designed with simplicity and portability, it only supports multithreading with collaborative coroutines. To support preemptive multitasking, we implement time slicing coroutines as spacecraft control processes. New coroutine scheduler is devised and time slicing functionality is added into the scheduler. Scheduler locking and message passing with external flight software are also implemented. Instead of modifying the Lua interpreter, we have exploited the debug support APIs for our implementation. For evaluation, we have implemented the flight software virtualization environment on the flight computer. Accuracy of the time slicing scheduler is also analyzed.
面向自主作战的关键任务嵌入式软件开发周期长,开发成本高。降低成本的潜在解决方案之一是重用在以前的任务中开发的软件。JVM等虚拟机平台是提供跨各种任务的代码可移植性的好例子。航空航天领域的飞行软件正在采用这一概念,以提高可重用性,最终降低开发成本。本文提出了一种基于lua的航天器飞行软件虚拟化环境。用于航天器控制的飞行软件由几个高度自主的任务组成。选择Lua作为控制任务编程的脚本语言。尽管Lua的设计具有简单性和可移植性,但它只支持带有协作协程的多线程。为了支持抢占式多任务处理,我们实现了时间切片协同程序作为航天器控制进程。设计了新的协程调度器,并将时间切片功能添加到调度器中。调度锁定和消息传递与外部飞行软件也实现了。我们没有修改Lua解释器,而是为我们的实现利用了调试支持api。为了进行评估,我们在飞行计算机上实现了飞行软件虚拟化环境。分析了时间切片调度器的精度。
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引用次数: 4
Offloading of Web Application Computations: A Snapshot-Based Approach Web应用程序计算的卸载:基于快照的方法
H. Jeong, Soo-Mook Moon
As the web technology advances, web applications, executable on any devices where a web browser is installed, have become pervasive. However, running heavy web applications in the mobile devices is challenging, because of their resource constraints and poor network environments. One of the trials to overcome such restrictions is computation offloading. Computation offloading is the technique migrating computations from client to server to exploit the powerful resources of the server. We observed some former approaches to the computation offloading, and found out they placed a huge burden on programmers to write annotations and substantially limited the computations to be offloaded. In order to overcome these problems, we propose an offloading system transferring the states without annotations and giving programmers freedom to use JavaScript features and DOM (Document Object Model) API in the offloaded computations. Our approach is based on the technique called snapshot, which safely saves and restores the states of web applications. The snapshot-based approach allows the offloaded computations to use various features such as a closure, and DOM API. In the web applications using open source JavaScript libraries, our offloading system successfully offloaded the event handlers using closure variables and DOM APIs, achieving a speedup up to 7.2.
随着网络技术的进步,可以在任何安装了网络浏览器的设备上执行的网络应用程序已经变得无处不在。然而,由于移动设备的资源限制和恶劣的网络环境,在移动设备上运行繁重的web应用程序是具有挑战性的。克服这些限制的一个尝试是计算卸载。计算卸载是将计算从客户端迁移到服务器以利用服务器的强大资源的技术。我们观察了一些以前的计算卸载方法,发现它们给程序员带来了编写注释的巨大负担,并且极大地限制了要卸载的计算。为了克服这些问题,我们提出了一个卸载系统,在没有注释的情况下传输状态,并允许程序员在卸载计算中自由使用JavaScript特性和DOM(文档对象模型)API。我们的方法是基于一种叫做快照的技术,它可以安全地保存和恢复web应用程序的状态。基于快照的方法允许卸载计算使用各种特性,如闭包和DOM API。在使用开源JavaScript库的web应用程序中,我们的卸载系统使用闭包变量和DOM api成功地卸载了事件处理程序,实现了高达7.2的加速。
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引用次数: 12
Context Aware Power Management Enhanced by Radio Wake Up in Body Area Networks 体域网络中无线电唤醒增强的上下文感知电源管理
Filippo Casamassima, M. Magno, Elisabetta Farella, L. Benini
Wireless body area networks (WBANs) have the huge potential to enhance people's lives. They are already present in many application domains, for instance sport and fitness, but they are wide spreading in particular in health and rehabilitation. However, there are still challenging issues that limit their wide diffusion in real life: primarily, the limited lifetime due to the batteries that usually supply the devices. This limitation affects usability and force the data processing to be simple to match the power constraints. This work tries to address the energy limitation by enabling both efficient and complex signal-processing applications and extension of lifetime. We present a power management strategy combining an ultra-low power wake up radio with context awareness. The context aware power manager based on activity recognition decides which nodes must be activated exploiting a nano-power wake up radio and power management policies. Result shows that by using both approaches it is possible to extend battery life of sensor nodes from few hours to an entire week.
无线体域网络(wban)在改善人们生活方面具有巨大的潜力。它们已经出现在许多应用领域,例如运动和健身,但它们正在广泛传播,特别是在保健和康复方面。然而,仍然有一些具有挑战性的问题限制了它们在现实生活中的广泛传播:主要是由于通常供应设备的电池的有限寿命。这种限制会影响可用性,并迫使数据处理变得简单,以匹配功率限制。这项工作试图通过实现高效和复杂的信号处理应用以及延长寿命来解决能量限制问题。我们提出了一种结合超低功耗唤醒无线电和上下文感知的电源管理策略。基于活动识别的上下文感知电源管理器利用纳米功率唤醒无线电和电源管理策略决定哪些节点必须被激活。结果表明,通过使用这两种方法,可以将传感器节点的电池寿命从几个小时延长到整整一周。
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引用次数: 3
期刊
2015 IEEE 13th International Conference on Embedded and Ubiquitous Computing
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