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Using Trace Data for Run-time Optimization of Parallel Execution in real-time Multi-Core systems 28

Using Trace Data for Run-Time Optimization of Parallel Execu...

引用

28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Schade, Florian Sandmann, Timo Becker, Juergen theiling, Henrik Karlsruhe Inst Technol Inst Tech Informat Verarbeitung ITIV Karlsruhe Germany SYSGO GmbH Klein Winternheim Germany

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

In recent years, multi-core processors are becoming more and more common in embedded systems, offering higher performance than single-core processors and thereby enabling both computationally intensive embedded applications as well as the space-, weight-, and energy-efficient integration of software components. However, real-time applications, for which meeting certain deadlines must be guaranteed, do not profit as much from this transition. this is mainly due to interference between the processing cores of commercial-off-the-shelf multi-core processors at shared resources, hampering the predictability of task execution times. An effective approach to avoid this is running the critical tasks exclusively on one core while pausing execution on all other cores. this, however, reduces the overall system efficiency since parallel execution potential remains unused. In this work we present a novel approach to managing shared and exclusive execution in such systems. By on-line observation of the critical task progress via the on-chip trace infrastructure, we reduce the time of exclusive execution when it is safely possible and thereby increase the overall system efficiency. Using trace information allows for early detection of parallelization potential and does not require modifications to the critical application, which helps avoiding re-certification of the critical application. We present an implementation on a heterogeneous multi-processor system-on-chip using a state-of-the-art hypervisor for critical systems and evaluate its performance. Our results indicate that a performance gain of 37 % to 41 % over approaches focused on exclusive execution can be reached in low-interference situations.

关键词： Multicore processing real-time systems Concurrency control Timing isolation Worst-case execution time

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Visualization System Using Virtual reality for Work Improvement in Small and Medium Manufacturing Industries 29

Visualization System Using Virtual Reality for Work Improvem...

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29th IEEE international conference on embedded and real-time computing systems and applications, RTCSA 2023

作者： Ogihara, Shogo Kato, Tetsuro Kawasaki, Takafumi Okura, Yuki Iwamoto, Takeshi Graduate School of Engineering Electrical and Computer Engineering Toyama Prefectural University Toyama Japan IoTry Inc. Toyama Japan Toyama Prefectural University Department of Information Systems Engineering Toyama Japan

ISBN: (纸本)9798350337860

the advancement of digitalization in the manufacturing industry has visualization that enables managers to comprehend the status and operation time of machines, thereby allowing them to identify and address bottlenecks in production lines. Although Gantt charts are commonly used for visualization in the manufacturing industry, there is an increasing need to adopt methods that more effectively visualize past events to facilitate understanding. Consequently, we have developed a Virtual reality (VR) system aimed at improving the operations of small and medium-sized manufacturing enterprises through visualization. By utilizing sensors installed within the factory, we demonstrated that the VR space facilitates comprehensible work analysis instruction and simulation of optimal work processes. © 2023 IEEE.

关键词： Visualization

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Tactile-Guided Automated Robotic Wiping 11

Tactile-Guided Automated Robotic Wiping

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11th IEEE international conference on Cybernetics and Intelligent systems (CIS) / 11th IEEE international conference on Robotics, Automation and Mechatronics (RAM)

作者： Xu, Lan Liang, Wenyu Lee, Tong Heng Natl Univ Singapore Dept Elect & Comp Engn Singapore Singapore

ISBN: (纸本)9798350364200;9798350364194

To automate the wiping task using robots, it is crucial to endow the robot with the capability to maintain desired contact with target surfaces. However, challenges arise when geometric priors and visual feedback are not available or when detailed object information is needed. In this paper, a tactile-guided hybrid pose/force control scheme based on gain-scheduling proportional-integral-derivative (PID) is proposed to address these challenges. Leveraging a tactile sensor, three features are extracted from the tactile data and used in the control loop. the control scheme regulates the contact normal force on unknown surfaces with slowly changing curvature while following a trajectory on the surface. It also allows real-time adaptation of the desired contact force to varying surface conditions. the performance of the proposed scheme is evaluated on a robot manipulator equipped with a tactile sensor. Experimental results show that the proposed system can identify stains, guide itself to re-clean areas, and successfully accomplish the wiping task.

关键词： Manipulation sensor-based control applications

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Binary Grey Wolf Optimizer for Mapping real time applications on MPSOCs Architecture 7

Binary Grey Wolf Optimizer for Mapping Real Time Application...

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7th international conference on Informatics and Applied Mathematics, IAM 2024

作者： Boumaza, Farid Zouache, Djaafar Belazzoug, Mouhoub Hadji, Atmane Aroui, Abdelkader Computer Science Department University of Mohamed El Bachir El Ibrahimi Bordj Bou Arreridj34030 Algeria Laboratory of Parallel Embedded architectures and Intensive Computing University of Oran1 Oran31000 Algeria LISI Laboratory Computer Science Department University Center A. Boussouf Mila Mila43000 Algeria Center for Space Techniques Palestine Avenue Arzew Oran31200 Algeria

With the growing complexity of real-time applications, Multi-Processor systems-on-Chip (MPSoCs) have become a vital solution for meeting stringent performance, power, and scalability requirements. Efficient task mapping plays a crucial role in optimizing the performance of such systems, particularly for real-time applications that demand strict timing constraints. Traditional mapping techniques, including static and dynamic strategies, struggle with balancing execution time, energy efficiency, and communication overhead in heterogeneous MPSoC architectures. In this paper, we propose a novel approach for optimizing task mapping in MPSoCs, based on the Grey Wolf Optimizer (GWO), a bio-inspired metaheuristic renowned for its effectiveness in solving complex optimization problems. this methodology aims to minimize task execution times and communication delays by intelligently mapping real-time tasks onto heterogeneous processing elements (PEs), while also adhering to real-time constraints and reducing energy consumption. the results confirm that the improved GWO algorithm is a powerful tool for addressing the challenges of real-time task mapping in MPSoCs, providing a robust and scalable solution for future embedded systems. © 2024 Copyright for this paper by its authors.

关键词： System-on-chip

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Low-Cost GNSS Receivers Reliability Using Centipede RTK Network for Land Surveying 11

Low-Cost GNSS Receivers Reliability Using Centipede RTK Netw...

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11th international conference on Geographical Information systems theory, applications and Management, GISTAM 2025

作者： Ali Sammuneh, Muhammad Eslahi, Mojtaba EL Meouche, Rani Farazdaghi, Elham ESTP Paris Cachan94230 France

ISBN: (纸本)9789897587412

the question of using low-cost Multiband Global Navigation Satellite System GNSS receivers and antennas in land surveying is real and important. In France, mainly a collaborative real time Kinematic (RTK) network called Centipede covers the country providing the corrections open access in real time to the users. Furthermore, the low-cost interface application and software called SW Maps connect the Low-cost GNSS receiver to the Centipede-RTK network using a smartphone. the cost of surveying projects using all these elements is certainly economical. the main question here is the reliability of this package to perform continuous, stable, and reliable RTK land surveying. We test this capability by examining the differences in the RTK position of known control points with a series of measurements over different mount points. the results show that we can use this package for land surveying only with necessary validation and control by experimental users, as the indicators of Centipede RTK accuracy via the SW Maps interface are not representative. © 2025 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Mobile applications

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Enabling real-time AI Inference on Mobile Devices via GPU-CPU Collaborative Execution 28

Enabling Real-time AI Inference on Mobile Devices via GPU-CP...

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28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Li, Hao Ng, Joseph K. Abdelzaher, Tarek Hong Kong Baptist Univ Dept Comp Sci Hong Kong Peoples R China Univ Illinois Dept Comp Sci Urbana IL USA

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

AI-powered mobile applications are becoming increasingly popular due to recent advances in machine intelligence. they include, but are not limited to mobile sensing, virtual assistants, and augmented reality. Mobile AI models, especially Deep Neural Networks (DNN), are usually executed locally, as sensory data are collected and generated by end devices. this imposes a heavy computational burden on the resource-constrained mobile phones. there are usually a set of DNN jobs with deadline constraints waiting for execution. Existing AI inference frameworks process incoming DNN jobs in sequential order, which does not optimally support mobile users' real-time interactions with AI services. In this paper, we propose a framework to achieve real-time inference by exploring the heterogeneous mobile SoCs, which contain a CPU and a CPU. Considering characteristics of DNN models, we optimally partition the execution between the mobile CPU and CPU. We present a dynamic programming-based approach to solve the formulated real-time DNN partitioning and scheduling problem. the proposed framework has several desirable properties: 1) computational resources on mobile devices are better utilized;2) it optimizes inference performance in terms of deadline miss rate;3) no sacrifices in inference accuracy are made. Evaluation results on an off-the-shelf mobile phone show that our proposed framework can provide better real-time support for AI inference tasks on mobile platforms, compared to several baselines.

关键词： Processor scheduling Computational modeling Virtual assistants Graphics processing units Collaboration Dynamic scheduling real-time systems

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DeepPicarMicro: Applying TinyML to Autonomous Cyber Physical systems 28

DeepPicarMicro: Applying TinyML to Autonomous Cyber Physical...

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28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Bechtel, Michael Weng, QiTao Yun, Heechul Univ Kansas Lawrence KS 66045 USA

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

Running deep neural networks (DNNs) on tiny Micro-controller Units (MCUs) is challenging due to their limitations in computing, memory, and storage capacity. Fortunately, recent advances in both MCU hardware and machine learning software frameworks make it possible to run fairly complex neural networks on modern MCUs, resulting in a new field of study widely known as TinyML. However, there have been few studies to show the potential for TinyML applications in cyber physical systems (CPS). In this paper, we present DeepPicarMicro, a small self-driving RC car testbed, which runs a convolutional neural network (CNN) on a Raspberry Pi Pico MCU. We apply a state-of-the-art DNN optimization to successfully fit the well-known PilotNet CNN architecture, which was used to drive NVIDIA's real self-driving car, on the MCU. We apply a state-of-art network architecture search (NAS) approach to find further optimized networks that can effectively control the car in real-time in an end-to-end manner. From an extensive systematic experimental evaluation study, we observe an interesting relationship between the accuracy, latency, and control performance of a system. From this, we propose a joint optimization strategy that takes both accuracy and latency of a model in the network architecture search process for AI enabled CPS.

关键词： real-time Autonomous Car Convolutional Neural Network Microcontroller Case Study TinyML

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Energy-Adaptive real-time Sensing for Batteryless Devices 28

Energy-Adaptive Real-time Sensing for Batteryless Devices

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28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Karimi, Mohsen Wang, Yidi Kim, Hyoseung Univ Calif Riverside Riverside CA 92521 USA

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

the use of batteryless energy harvesting devices has been recognized as a promising solution for their low maintenance requirements and ability to work in harsh environments. However, these devices have to harvest energy from ambient energy sources and execute real-time sensing tasks periodically while satisfying data freshness constraints, which is especially challenging as the energy sources are often unreliable and intermittent. In this paper, we develop an energy-adaptive real-time sensing framework for batteryless devices. this framework includes a lightweight machine learning-based energy predictor that is capable of running on microcontroller devices and predicting the energy availability and intensity based on energy traces. Using this, the framework adapts the schedule of real-time tasks by effectively taking into account the predicted energy supply and the resulting age of information of each task, in order to achieve continuous sensing operations and satisfy given data freshness requirements. We discuss various design choices for adaptive scheduling and evaluate their performance in the context of batteryless devices. Experimental results show that the proposed adaptive real-time approach outperforms the recent methods based on static and reactive approaches, in both energy utilization and data freshness.

关键词： Performance evaluation Schedules Runtime Microcontrollers Data integrity Solar energy real-time systems

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IPDeN: real-time deflection-based NoC with in-order flits delivery 28

IPDeN: Real-Time deflection-based NoC with in-order flits de...

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28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Gonzalez, Yilian Ribot Nelissen, Geoffrey Tovar, Eduardo Polytech Inst Porto ISEP CISTER Res Ctr Porto Portugal Eindhoven Univ Technol Eindhoven Netherlands

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

In deflection-based Network-on-Chips (NoC), when several flits entering a router contend for the same output port, one of the flit is routed to the desired output and the others are deflected to alternatives outputs. the approach reduces power consumption and silicon footprint in comparison to virtual-channels (VCs) based solutions. However, due to the non-deterministic number of deflections that flits may suffer while traversing the network, flits may be received in an out-of-order fashion at their destinations. In this work, we present IPDeN, a novel deflection-based NoC that ensures in-order flit delivery. To avoid the use of costly reordering mechanisms at the destination of each communication flow, we propose a solution based on a single small buffer added to each router to prevents flits from over taking other flits belonging to the same communication flow. We also develop a worst-case traversal time (WCTT) analysis for packets transmitted over IPDeN. We implemented IPDeN in Verilog and synthesized it for an FPGA platform. We show that a router of IPDeN requires approximate to 3-times less hardware resources than routers that use VCs. Experimental results shown that the worst-case and average packets communication time is reduced in comparison to the state-of-the-art.

关键词： real-time embedded systems systems-on-Chips Network-on-Chips Worst-Case Traversal time

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A Concurrency Framework for Priority-Aware Intercomponent Requests in CAmkES on seL4 28

A Concurrency Framework for Priority-Aware Intercomponent Re...

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28th IEEE international conference on embedded and real-time computing systems and applications (RTCSA)

作者： Sudvarg, Marion Gill, Chris Washington Univ Dept Comp Sci & Engn St Louis MO 63110 USA

ISBN: (数字)9781665453448

ISBN: (纸本)9781665453448

Component-based design can encapsulate and isolate state and the operations on it, but timing semantics crosscut these boundaries when a real-time task's control flow spans multiple components. Under priority-based scheduling, intercomponent control flow should be coupled with priority information, so that task execution can be prioritized appropriately end-to-end. However, the CAmkES component architecture for the seL4 microkernel does not adequately support priority propagation across intercomponent requests: component interfaces are bound to threads that execute at fixed priorities provided at compile-time in the component specification. In this paper, we present a new library for CAmkES with a thread model that supports (1) multiple concurrent requests to the same component endpoint;(2) propagation and enforcement of priority metadata, such that those requests are appropriately prioritized;and (3) implementations of Non-Preemptive Critical Sections, the Immediate Priority Ceiling Protocol and the Priority Inheritance Protocol for components encapsulating critical sections of exclusive access to a shared resource. We measure overheads and blocking times for these new features and use existing theory to perform schedulability analysis. Evaluations on both Intel x86 and ARM platforms show that our new library allows CAmkES to provide suitable end-to-end timing for real-time systems.

关键词： Concurrent computing Component architectures Protocols Program processors Semantics Metadata real-time systems

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