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Experimental reliability analysis of multi-UAV simulation with TMO-based distributed architecture and global time synchronization

Experimental reliability analysis of multi-UAV simulation wi...

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2010 13th ieee international symposium on object/component/Service-oriented real-time distributed computing Workshops, ISORC Workshops 2010

作者： Song, Seung-Hwa Kim, Doo-Hyun Chang, Chun-Hyon Embedded Computing Lab School of Internet and Multimedia Engineering Konkuk University Seoul Korea Republic of Programming Language Lab School of Computer Engineering Konkuk University Seoul Korea Republic of

ISBN: (纸本)9780769540382

In developing multi-UAV(Unmanned Aerial Vehicle) system, a simulation environment is essential to verify the functionalities of the whole system with higher productivity and reduced risks of accidents. Simulations of multi-UAV systems are usually accomplished by using distributed systems where multiple standalone simulators are connected via a network. thus, in order to achieve an improved reality in such distributed simulation environments, the whole multi-UAV simulator should be guaranteed real-time and synchronized behaviors among the connected systems. In this paper, we discuss about the necessity of two important real-time features, i.e., the periodicity of computations and the clock synchronization among standalone simulators. We also propose an architecture based on TMO(time-triggered and Message-triggered object) model as a multi-UAV simulation platform with our preliminary experimental results showing its potential feasibilities. © 2010 ieee.

关键词： Simulators

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Software behavior description of real-time embedded systems in component Based Software Development

Software behavior description of real-time embedded systems ...

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11th ieee symposium on object/component/Service-oriented real-time distributed computing

作者： Kim, Ji Eun Kapoor, Rahul Herrmann, Martin Haerdtlein, Jochen Grzeschniok, Franz Lutz, Peter Research and Technology Center Robert Bosch LLC Corporate Research Robert Bosch GmbH

ISBN: (纸本)9780769531328

component Based Software Development (CBSD) has been established in the development of automotive real-time embedded applications at Bosch. CBSD together with Software Product Line (SPL) practice has improved software reuse, productivity, quality and complexity management, by raising the level of abstraction for software constructions and by sharing services. Although CBSD has contributed to the aforementioned improvement in the software development practice, the existing Bosch component model often requires software developers to take a close look at the implementation including models (e.g., ASCET-MD1) and even complex source code to understand software behavior and dependencies when reusing and adapting software components. this hinders the realization of the full benefits of CBSD, as the available information on the component level does not sufficiently describe important aspects of software behavior. this paper presents the concepts and case studies of 'signal flows' and 'mode dependent signal flows', which provide crucial software behavior information for real time embedded systems at the component level.

关键词： Computer software reusability

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TMO-Linux: A linux-based real-time operating system supporting execution of TMOs 5

TMO-Linux: A linux-based real-time operating system supporti...

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5th ieee international symposium on object-oriented real-time distributed computing (ISORC 2002)

作者： Kim, HJ Park, SH Kim, JG Kim, MH Rim, KW Hankuk University of Foreign Studies South Korea Konkuk University South Korea Sunmoon University South Korea

ISBN: (纸本)0769515584

the TWO (time-triggered Message-triggered object) model is a well-known real-time object model for distributed and timeliness-guaran teed computing. In a couple of years ago, we developed two TMO execution engines, named WTMOS and LTMOS, the former is for Windows platforms and the latter is for Linux platforms. those are middleware engines supporting deadline driven real-time execution of TMO methods and distributed IPC the engines have several advantages such as heterogeneous computing support, flexibility, and high portability since those have been as middlewares. However the deadline-driven schedulers of the middlewares lose temporal accuracy in some cases because the scheduling is performed by controlling priorities of real-time threads. To increase temporal accuracy and reduce overhead by middlewares, we have developed a new Linux-based operating system named "TMO-Linux" that supports distributed real-time execution of TMO instances as embedded services of an operating system. In this paper we present the functions and the structure of TMO-Linux. Our preliminary experimental results show that TMO-Linux has better timing accuracy and performance than the middleware engines.

关键词： Accuracy distributed computing Engines Linux Middleware Operating systems Processor scheduling real time systems Timing Yarn

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IKE 2 - Implementing the stateful distributed object paradigm 5

IKE 2 - Implementing the stateful distributed object paradig...

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5th ieee international symposium on object-oriented real-time distributed computing (ISORC 2002)

作者： Noseworthy, JR Object Sciences Corporation United States

ISBN: (纸本)0769515584

this paper describes IKE 2, which is distributed object computing middleware that supports the creation of interoperable real-time distributed applications. these applications appear in many domains, such as telecom, aerospace, military testing and training ranges, and financial services. IKE 2 combines the concepts of CORBA distributed objects and anonymous publish-subscribe data dissemination to provide a programming abstraction known as a stateful distributed object (SDO). Every SDO can have both a remote method interface and publication state. the remote method interface allows client applications to invoke methods on target objects efficiently without concern for their location, programming language, OS platform, communication protocols and interconnects, or hardware. the publication state of a given SDO is disseminated to applications that have expressed their interest by subscribing to certain characteristics, such as the type of the SDO. Subscribers can read the publication state of an SDO as if it were a local object. the SDOs provided by the IKE 2 metaobject model support inheritance from other SDOs, containment of other SDOs, and references to other SDOs. IKE 2 is implemented in C++. the API relies heavily on compile-time type-safety to help ensure reliable behavior at run-time-a critical feature of any real-time system. Automatic code generation is used to provide the high-level abstractions without unduly burdening application programmers.

关键词： distributed object middleware distributed object middleware publish-subscribe middleware SDO stateful distributed object CORBA event service

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Designing a service of failure detection in asynchronous distributed systems 4

Designing a service of failure detection in asynchronous dis...

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4th ieee international symposium on object-oriented real-time computing (ISORC 2001)

作者： Baldoni, R Zito, F Univ Roma La Sapienza Dipartimento Informat & Sistemist I-00198 Rome Italy

ISBN: (纸本)0769510892

Even though introduced for solving the consensus problem in asynchronous distributed systems, the notion of unreliable failure detector can be used as a powerful tool for any distributed protocol in order to get better performance by allowing the usage of aggressive time-outs to detect failures of entities executing the protocol. In this paper we present the designing of a Failure Detection Service (FDS) based on the notion of unreliable failure detectors introduced by Chandra and Toueg. FDS is able to detect crashed objects and entities that permanently omit to send messages without imposing changes to the source code of the underlying protocols that use this service. Also, FDS provides an object-oriented interface to its subscribers and, more important, it does not add network overhead if no entity subscribes to the service. this paper can be also seen as a first step towards a distributed implementation of a heartbeat-based failure management system as defined in Fault-Tolerant CORBA specification.

关键词： Common object request broker architecture (CORBA)

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realization of Fault-Tolerant Home Network Management Middleware with the TMO Structuring Approach and an Integration of Fault Detection and Reconfiguration Mechanisms

Realization of Fault-Tolerant Home Network Management Middle...

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ieee international symposium on object/component/Service-oriented real-time distributed computing

作者： Kim, K. H. (Kane) Zhou, Qian Qian, Jing Moon, Kyung-Deok Park, Jun Hee Son, Young-Sung Lee, Chang-Eun Ku, Tai-Yeon Univ Calif Irvine Dept EECS Irvine CA 92697 USA Elect & Telecom Res Inst Daejeon South Korea

ISBN: (纸本)9780769535739

A middleware model named ROAFTS (real-time object-oriented Adaptive Fault Tolerance Support) has been evolving in the UCI DREAM Lab. over the past decade as the core of a reliable execution engine model for fault-tolerant (FT) real-time (RT) distributed computing (DC) applications. It is meant to be an integration of various mechanisms for fault detection and recovery in a form that meshes well with high-level RT DC object/component-based programming, in particular, TMO (time-triggered Message-triggered object) programming. Using ROAFTS as a backbone and low-layer middleware, we developed a model and a skeleton implementation for FT DC middleware providing efficient FT execution services for component-based home network applications. Capabilities for management of home information processing devices, including health monitoring of home devices, reconfiguration of device connections, and servicing queries on device status, were added to ROAFTS. those additions were first designed as a network of high-level RT DC components, i.e., TMOs. then the TMO network was extended into an FT TMO network by applying the replication scheme called the PSTR (Primary-Shadow TMO Replication) scheme and incorporating a component responsible for reconfiguring TMO replicas. this extension of ROAFTS is called ROAFTS-HNE (Home Network Extension) and its architecture is presented here. In addition, during the development of the ROAFTS-HNE model, we formulated a new approach for applying the PSTR scheme to RT DC components supported by ROAFTS. Finally, evaluations of the recovery times of a prototype implementation have been conducted.

关键词： home network fault tolerance fault detection object replication ROAFTS PSTR template reconfiguration TMO real-time TNCM SNS RMP RSMPSM UMB

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Modeling dependable systems: What can model driven development contribute and what likely not?

Modeling dependable systems: What can model driven developme...

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7th ieee international symposium on object-oriented real-time distributed computing

作者： Margaria, T Univ Gottingen Inst Informat Serv Engn Distributed Syst D-3400 Gottingen Germany

ISBN: (纸本)076952124X

Dependability of complex systems is a critical system-level issue, which is still insufficiently tackled today. We propose here the adoption of an aggressive model-driven development paradigm (AMDD) to adequately capture globally-scoped issues like interoperability and compatibility. AMDD moves most of the recurring problems of compatibility and consistency of a system's design, implementation and evolution from the coding and integration level to the modelling level. In particular it enables an economical treatment of cross-system issues. this approach has proven useful already for the design, realization and test of complex distributed applications. In this paper we discuss the potential and benefits of AMDD and present examples where it is already adopted.

关键词： Large scale systems

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Code generation from hybrid systems models for distributed embedded systems

Code generation from hybrid systems models for distributed e...

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8th ieee international symposium on object-oriented real-time distributed computing

作者： Anand, M Kim, J Lee, I Univ Penn Dept Comp & Informat Sci Philadelphia PA 19104 USA

ISBN: (纸本)0769523560

Code generation from hybrid system models is a promising approach to producing reliable embedded systems. this approach presents new challenges as the precise semantics of the model are hard to capture in the code. A framework for generating code was introduced for single threaded/processor environments. Here, we extend it by considering code generation for distributed environments. We also define criteria for faithful implementation of the model. To this end, we define faulty and missed transitions. For preventing faulty transitions, we build on the idea of instrumentation we have developed for sound simulation of hybrid systems. Finally, we present sufficient conditions to avoid missed transitions and provide examples.

关键词： Codes (symbols)

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object and process migration in .NET

Object and process migration in .NET

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8th ieee international Workshop on object-oriented real-time Dependable Systems (WORDS 2003)

作者： Tröger, P Polze, A Univ Potsdam Hasso Plattner Inst Operating Syst & Middleware Chair Potsdam Germany

ISBN: (纸本)0769519296

Most of today's distributed computing systems in the field do not support the migration of execution entities among computing nodes during runtime. the relatively static association between units of processing and computing nodes makes it difficult to implement fault-tolerant behavior or load-balancing schemes. the concept of code migration may provide a solution to the problems mentioned above. It can be defined as the movement of process, object or component instances from one computing node to another during system runtime in a distributed environment. Within our paper we describe the integration of a migration facility with the help of Aspect-oriented Programming (AOP) into the .NET framework. AOP is interesting as it addresses non-functional system properties on the middleware level, without the need to manipulate lower system layers like the operating system itself. We have implemented two proof-of-concept applications, namely a migrating web server as well as a migrating file version checker application. the paper contains an experimental evaluation of the performance impact of object migration in context of those two applications.(1).

关键词： Aspect oriented programming

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component Based Middleware-Synthesis for AUTOSAR Basic Software

Component Based Middleware-Synthesis for AUTOSAR Basic Softw...

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ieee international symposium on object/component/Service-oriented real-time distributed computing

作者： Schreiner, Dietmar Schordan, Markus Goeschka, Karl M. Vienna Univ Technol Compilers & Languages Grp A-1040 Vienna Austria Vienna Univ Technol Distributed Syst Grp A-1040 Vienna Austria Univ Appl Sci Tech Vienna Inst Comp Sci Vienna Austria

ISBN: (纸本)9780769535739

distributed real-time automotive embedded systems have to be highly dependable as well as cost-efficient due to the large number of manufactured units. To close the gap between raising complexity and cutting costs, upcoming software standards like AUTOSAR introduce a clear separation of concerns into their system architecture. An AUTOSAR application is built from components that deal with business logic only whereas infrastructural services are provided by standardized middleware. Unfortunately, this middleware tends to be heavy-weight due to its coarse-grained layered design. By applying a component based design to AUTOSAR's middleware, a custom-tailored version for each specific application and system node can be built to overcome this problem. this paper demonstrates how to automatically synthesize component based middleware via the Connector Transformation: component connectors in platform independent application models are utilized to automatically assemble platform- and application specific middleware. As a result, AUTOSAR middleware becomes custom-tailored and hence light-weight and flexible. In addition, the described synthesis algorithm is capable of incorporating timing annotations via interface contracts at model level, and thus reflects upcoming ambitions to cover real-time constraints at middleware level within AUTOSAR. To prove our approach we successfully synthesized middleware for a demonstrator application and compared it to its conventional counterpart.

关键词： Middleware

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