S. Begum, M. Behnam, T. Larsson, Thomas Nolte, Kristian Sandström
This paper presents our ongoing work towards a compositional service architecture that integrates cloud technology for computational capacity targeting real-time robotics applications. In particular, the paper focuses at the challenges inherent within the data center where the services are executing. Here, we outline characteristics of the services applied in the real-time cloud robotics application, along with the service management and corresponding task model used to execute the services. Moreover, several key challenges that must be addressed towards integrating cloud technology in real-time robotics are identified.
{"title":"Towards a compositional service architecture for real-time cloud robotics: invited paper","authors":"S. Begum, M. Behnam, T. Larsson, Thomas Nolte, Kristian Sandström","doi":"10.1145/2983185.2983196","DOIUrl":"https://doi.org/10.1145/2983185.2983196","url":null,"abstract":"This paper presents our ongoing work towards a compositional service architecture that integrates cloud technology for computational capacity targeting real-time robotics applications. In particular, the paper focuses at the challenges inherent within the data center where the services are executing. Here, we outline characteristics of the services applied in the real-time cloud robotics application, along with the service management and corresponding task model used to execute the services. Moreover, several key challenges that must be addressed towards integrating cloud technology in real-time robotics are identified.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121053010","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}
Integrated modular Avionics (IMA or ARINC 651), as it is currently implemented in large aircrafts, uses a limited number of complex processors interconnected through a communication network (AFDX or ARINC 664). The allocation of avionics applications is done according a communicating partitions model (APEX or ARINC 653) needed for guaranteeing robust partitioning when sharing processors (TDMA like schedule) and communication network (APEX channel). On smaller aircrafts (such as helicopters) the objective (due to room and weight constraints) is to use les complex processors and consequently to increase their number. Implementing such a distributed IMA architecture leads to a global (more complex) integration problem, which is twofold. Allocation and scheduling of partitions on each shared processor as well as end-to-end communication delays among distributed partitions must be compatible in order to guarantee timing requirements of distributed avionics applications. This paper points out the complexity of composing the two aspects of this integration problem on different possible target architectures.
{"title":"Communication-aware scheduling on an IMA architecture: invited paper","authors":"Emilie Deroche, Jean-Luc Scharbarg, C. Fraboul","doi":"10.1145/2983185.2983188","DOIUrl":"https://doi.org/10.1145/2983185.2983188","url":null,"abstract":"Integrated modular Avionics (IMA or ARINC 651), as it is currently implemented in large aircrafts, uses a limited number of complex processors interconnected through a communication network (AFDX or ARINC 664). The allocation of avionics applications is done according a communicating partitions model (APEX or ARINC 653) needed for guaranteeing robust partitioning when sharing processors (TDMA like schedule) and communication network (APEX channel). On smaller aircrafts (such as helicopters) the objective (due to room and weight constraints) is to use les complex processors and consequently to increase their number. Implementing such a distributed IMA architecture leads to a global (more complex) integration problem, which is twofold. Allocation and scheduling of partitions on each shared processor as well as end-to-end communication delays among distributed partitions must be compatible in order to guarantee timing requirements of distributed avionics applications. This paper points out the complexity of composing the two aspects of this integration problem on different possible target architectures.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127726893","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}
Philipp Mundhenk, Artur Mrowca, S. Steinhorst, M. Lukasiewycz, Suhaib A. Fahmy, S. Chakraborty
With the increasing interconnection of vehicles, security challenges have moved into focus. Attacks on in-vehicle networks can cause accidents resulting in financial damages and even loss of life. The impact of an attack can be mitigated by secure internal vehicle networks, employing authentication of ECUs and authorization of messages. However, quantifying the real-time performance of additional security measures is difficult due to the high number of nodes and messages. In this paper, we present an open source model and simulator for the evaluation of the real-time performance of automotive networks implementing security measures. Applying parameters from hardware measurements, we evaluate our model and simulator with realistic test cases and a case study. We further present application perspectives on how the open source simulator can be used in different domains for the analysis of automotive network architectures.
{"title":"Open source model and simulator for real-time performance analysis of automotive network security","authors":"Philipp Mundhenk, Artur Mrowca, S. Steinhorst, M. Lukasiewycz, Suhaib A. Fahmy, S. Chakraborty","doi":"10.1145/2983185.2983186","DOIUrl":"https://doi.org/10.1145/2983185.2983186","url":null,"abstract":"With the increasing interconnection of vehicles, security challenges have moved into focus. Attacks on in-vehicle networks can cause accidents resulting in financial damages and even loss of life. The impact of an attack can be mitigated by secure internal vehicle networks, employing authentication of ECUs and authorization of messages. However, quantifying the real-time performance of additional security measures is difficult due to the high number of nodes and messages. In this paper, we present an open source model and simulator for the evaluation of the real-time performance of automotive networks implementing security measures. Applying parameters from hardware measurements, we evaluate our model and simulator with realistic test cases and a case study. We further present application perspectives on how the open source simulator can be used in different domains for the analysis of automotive network architectures.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133353873","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}
Jaewoo Lee, H. Chwa, A. Easwaran, I. Shin, Insup Lee
Although many cyber-physical systems are both mixed-criticality system and compositional system, there are little work on intersection of mixed-criticality system and compositional system. We propose novel concepts for task-level criticality-mode and reconsider temporal isolation in terms of compositional mixed-criticality scheduling.
{"title":"Towards compositional mixed-criticality real-time scheduling in open systems: invited paper","authors":"Jaewoo Lee, H. Chwa, A. Easwaran, I. Shin, Insup Lee","doi":"10.1145/2983185.2983193","DOIUrl":"https://doi.org/10.1145/2983185.2983193","url":null,"abstract":"Although many cyber-physical systems are both mixed-criticality system and compositional system, there are little work on intersection of mixed-criticality system and compositional system. We propose novel concepts for task-level criticality-mode and reconsider temporal isolation in terms of compositional mixed-criticality scheduling.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128353007","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}
J. H. Kim, Axel Legay, Louis-Marie Traonouez, Abdeldjalil Boudjadar, Ulrik Nyman, K. Larsen, Insup Lee, Jin-Young Choi
Compositional reasoning on hierarchical scheduling systems is a well-founded formal method that can construct schedulable and optimal system configurations in a compositional way. However, a compositional framework formulates the resource requirement of a component, called an interface, by assuming that a resource is always supplied by the parent components in the most pessimistic way. For this reason, the component interface demands more resources than the amount of resources that are really sufficient to satisfy sub-components. We provide two new supply bound functions which provides tighter bounds on the resource requirements of individual components. The tighter bounds are calculated by using more information about the scheduling system. We evaluate our new tighter bounds by using a model-based schedulability framework for hierarchical scheduling systems realized as Uppaal models. The timed models are checked using model checking tools Uppaal and Uppaal SMC, and we compare our results with the state of the art tool CARTS.
{"title":"Optimizing the resource requirements of hierarchical scheduling systems","authors":"J. H. Kim, Axel Legay, Louis-Marie Traonouez, Abdeldjalil Boudjadar, Ulrik Nyman, K. Larsen, Insup Lee, Jin-Young Choi","doi":"10.1145/2983185.2983192","DOIUrl":"https://doi.org/10.1145/2983185.2983192","url":null,"abstract":"Compositional reasoning on hierarchical scheduling systems is a well-founded formal method that can construct schedulable and optimal system configurations in a compositional way. However, a compositional framework formulates the resource requirement of a component, called an interface, by assuming that a resource is always supplied by the parent components in the most pessimistic way. For this reason, the component interface demands more resources than the amount of resources that are really sufficient to satisfy sub-components. We provide two new supply bound functions which provides tighter bounds on the resource requirements of individual components. The tighter bounds are calculated by using more information about the scheduling system.\u0000 We evaluate our new tighter bounds by using a model-based schedulability framework for hierarchical scheduling systems realized as Uppaal models. The timed models are checked using model checking tools Uppaal and Uppaal SMC, and we compare our results with the state of the art tool CARTS.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133641747","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}
J. Rho, Takuya Azumi, Hiroshi Oyama, Kenya Sato, N. Nishio
Modern automotive systems incorporate a range of data from on-board sensors and outside the vehicle. This results in complex data processing and rising software development costs. To address these issues, we investigated the adaptation of a general-purpose data stream management system (DSMS) use in automotive applications. Existing DSMSs cannot be applied directly in automotive systems, since they are not designed for stream processing in a distributed environment with an architecture of mixed single- and multi-core processors. This makes it difficult to optimize the placement of communicating entities on multiple processors when the parallel processing of massive amounts of streamed data is required. In this study, we investigated distributed and parallel stream processing on mixed single- and multi-core processors for an automotive DSMS. To extend the automotive DSMS in a distributed environment and facilitate the testing of the real-time constraints of stream processing on the various placements of entities, we designed a framework to automatically generate execution files on multiple processors. Our experimental results validated an architecture of mixed single- and multi-core processors and demonstrated the effectiveness of the framework.
{"title":"Distributed processing for automotive data stream management system on mixed single- and multi-core processors","authors":"J. Rho, Takuya Azumi, Hiroshi Oyama, Kenya Sato, N. Nishio","doi":"10.1145/2983185.2983187","DOIUrl":"https://doi.org/10.1145/2983185.2983187","url":null,"abstract":"Modern automotive systems incorporate a range of data from on-board sensors and outside the vehicle. This results in complex data processing and rising software development costs. To address these issues, we investigated the adaptation of a general-purpose data stream management system (DSMS) use in automotive applications. Existing DSMSs cannot be applied directly in automotive systems, since they are not designed for stream processing in a distributed environment with an architecture of mixed single- and multi-core processors. This makes it difficult to optimize the placement of communicating entities on multiple processors when the parallel processing of massive amounts of streamed data is required. In this study, we investigated distributed and parallel stream processing on mixed single- and multi-core processors for an automotive DSMS. To extend the automotive DSMS in a distributed environment and facilitate the testing of the real-time constraints of stream processing on the various placements of entities, we designed a framework to automatically generate execution files on multiple processors. Our experimental results validated an architecture of mixed single- and multi-core processors and demonstrated the effectiveness of the framework.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125493499","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}
Software-defined networking proposes a new paradigm to operate computer networks. Where routers and switches execute predetermined distributed protocols, OpenFlow offers to replace them with devices where the logic that determines the flows of packets is freely programmable and centralized. Applied to the field of real-time networks, this freedom would allow design networks to overcome existing standards and to make experimentation easier. However, neither OpenFlow nor Ethernet were designed having real-time constraints in mind. FTT-Ethernet is a master-slave protocol allowing the meeting of real-time constraints using commodity Ethernet hardware. This paper's aim is to study: (i) how FTT (Flexible Time Triggered) principles could be applied to OpenFlow, allowing its usage in a hard real-time context; (ii) which benefits OpenFlow can bring to the FTT paradigm.
{"title":"FTT-openFlow, on the way towards real-time SDN","authors":"Cédric Ternon, J. Goossens, J. Dricot","doi":"10.1145/3015037.3015045","DOIUrl":"https://doi.org/10.1145/3015037.3015045","url":null,"abstract":"Software-defined networking proposes a new paradigm to operate computer networks. Where routers and switches execute predetermined distributed protocols, OpenFlow offers to replace them with devices where the logic that determines the flows of packets is freely programmable and centralized. Applied to the field of real-time networks, this freedom would allow design networks to overcome existing standards and to make experimentation easier. However, neither OpenFlow nor Ethernet were designed having real-time constraints in mind. FTT-Ethernet is a master-slave protocol allowing the meeting of real-time constraints using commodity Ethernet hardware. This paper's aim is to study: (i) how FTT (Flexible Time Triggered) principles could be applied to OpenFlow, allowing its usage in a hard real-time context; (ii) which benefits OpenFlow can bring to the FTT paradigm.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125500262","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}
P-FRP systems are relatively new, so little research has been done on how tasks are best scheduled using the P-FRP paradigm. This paper provides a background of the subjects that timing analysis must cover, and concludes with suggestions for future research to be done in this field.
{"title":"Timing analysis of P-FRP systems","authors":"D. Underwood, A. Cheng","doi":"10.1145/2930957.2930960","DOIUrl":"https://doi.org/10.1145/2930957.2930960","url":null,"abstract":"P-FRP systems are relatively new, so little research has been done on how tasks are best scheduled using the P-FRP paradigm. This paper provides a background of the subjects that timing analysis must cover, and concludes with suggestions for future research to be done in this field.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132891113","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}
Model-based design and development has been applied successfully to design and development of complex systems, including safety critical systems. It is also a promising approach for designing cyber-physical systems (CPSs). In this paper we propose a methodology for model-based design of CPSs where, logic programming extended with coinduction, constraints over reals, and coroutining is used for modeling CPSs. This logic programming realization can be used for verifying interesting properties as well as generating implementations of CPSs. We use the reactor temperature control system as a running example to illustrate the various steps of our methodology. We present a model of the system using our framework and verify the safety property of the system. We also show how parametric analysis can be performed in our framework.
{"title":"A methodology for modeling and verification of cyber-physical systems based on logic programming","authors":"N. Saeedloei, G. Gupta","doi":"10.1145/2930957.2930963","DOIUrl":"https://doi.org/10.1145/2930957.2930963","url":null,"abstract":"Model-based design and development has been applied successfully to design and development of complex systems, including safety critical systems. It is also a promising approach for designing cyber-physical systems (CPSs). In this paper we propose a methodology for model-based design of CPSs where, logic programming extended with coinduction, constraints over reals, and coroutining is used for modeling CPSs. This logic programming realization can be used for verifying interesting properties as well as generating implementations of CPSs. We use the reactor temperature control system as a running example to illustrate the various steps of our methodology. We present a model of the system using our framework and verify the safety property of the system. We also show how parametric analysis can be performed in our framework.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117346850","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}
Our work is a contribution towards addressing what Thomas Henziger called the grand challenge in embedded software design [5]: "offering high-level programming models that exposes the execution properties of a system in a way that permits the programmer to express desired reaction and execution requirements, permits the compiler and run-time systems to ensure that these requirements are satisfied". In the programming model we describe here, the developer states the permissible timing behavior of the system, a system synthesis step involving both analysis and optimization generates a scheduling solution which at run-time is enforced by the execution environment. With respect to the synchronous programming models, our approach implements a weaker version of time-determinism, still providing a form of timing-predictability sufficient in many applications while remaining closer to mainstay software development practices. This approach is currently being implemented and experimented in the CPAL language development tools and associated runtime environment.
{"title":"Towards a declarative modeling and execution framework for real-time systems","authors":"S. Altmeyer, N. Navet","doi":"10.1145/2930957.2930962","DOIUrl":"https://doi.org/10.1145/2930957.2930962","url":null,"abstract":"Our work is a contribution towards addressing what Thomas Henziger called the grand challenge in embedded software design [5]: \"offering high-level programming models that exposes the execution properties of a system in a way that permits the programmer to express desired reaction and execution requirements, permits the compiler and run-time systems to ensure that these requirements are satisfied\". In the programming model we describe here, the developer states the permissible timing behavior of the system, a system synthesis step involving both analysis and optimization generates a scheduling solution which at run-time is enforced by the execution environment. With respect to the synchronous programming models, our approach implements a weaker version of time-determinism, still providing a form of timing-predictability sufficient in many applications while remaining closer to mainstay software development practices. This approach is currently being implemented and experimented in the CPAL language development tools and associated runtime environment.","PeriodicalId":447904,"journal":{"name":"SIGBED Rev.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130077158","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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