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Embedded systems Week / Int Conf on Compilers, Architecture, and synthesis for Embedded systems (CASES) / international conference on hardware/software codesign and system synthesis (CODES+ISSS) / Int Conf on Embedded software (EMSOFT)

作者： Bajczi, Levente Voros, Andras Molnar, Vince Budapest Univ Technol & Econ Fault Tolerant Syst Res Grp Dept Measurement & Informat Syst POB 91 H-1521 Budapest Hungary MTA BME Lendulet Cyber Phys Syst Res Grp Budapest Hungary

Formal verification is approaching a point where it will be reliably applicable to embedded software. Even though formal verification can efficiently analyze multi-threaded applications, multi-core processors are often considered too dangerous to use in critical systems, despite the many benefits they can offer. One reason is the advanced memory consistency model of such CPUs. Nowadays, most software verifiers assume strict sequential consistency, which is also the naive view of programmers. Modernmulti-core processors, however, rarely guarantee this assumption by default. In addition, complex processor architectures may easily contain design faults. Thanks to the recent advances in hardware verification, these faults are increasingly visible and can be detected even in existing processors, giving an opportunity to compensate for the problem in software. In this paper, we propose a generic approach to consider inconsistent behavior of the hardware in the analysis of software. Our approach is based on formal methods and can be used to detect the activation of existing hardware faults on the application level and facilitate their mitigation in software. The approach relies heavily on recent results of model checking and hardware verification and offers new, integrative research directions. We propose a partial solution based on existing model checking tools to demonstrate feasibility and evaluate their performance in this context.

关键词： Fault analysis memory consistency model concurrent litmus test

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Compositional Design of Multi-Robot systems Control software on ROS

Compositional Design of Multi-Robot Systems Control Software...

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作者： Spellini, Stefano Lora, Michele Fummi, Franco Chattopadhyay, Sudipta Univ Verona Dept Comp Sci Str Grazie 15 I-37134 Verona Italy Singapore Univ Technol & Design ISTD 8 Somapah Rd Singapore 487372 Singapore

This paper presents a methodology that relies on Assume-Guarantee Contracts to decompose the problem of synthesizing control software for a multi-robot system. Initially, each contract describes either a component (e.g., a robot) or an aspect of the system. Then, the design problem is decomposed into different synthesis and verification sub-problems, allowing to tackle the complexity involved in the design process. The design problem is then recomposed by exploiting the rigorousness provided by contracts. This allows us to achieve system-level simulation capable to be used for validating the entire design. Once validated, the software synthesized during the process can be integrated into Robot Operating system (ROS) nodes and executed using state-of-the-practice packages and tools for modern robotic systems. We apply the methodology to generate a control strategy for an autonomous goods transportation system. Our results show a massive reduction of the time required to obtain automatically the control software implementing a multi-robot mission.

关键词： Contract-based design robotic operating system

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Parametric Scheduler Characterization

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ACM TRANSACTIONS ON EMBEDDED COMPUTING systemS 2019年第5期18卷 1-25页

作者： Van Pinxten, Joost Geilen, Marc Basten, Twan Oce Technol BV POB 101 NL-5900 MA Venlo Netherlands Eindhoven Univ Technol Groene Loper 19Flux 4-132 NL-5612 AZ Eindhoven Netherlands TNO ESI Eindhoven Netherlands

Schedulers assign starting times to events in a system such that a set of constraints is met and system productivity is maximized. We characterize the scheduler behaviour for the case where decisions are made by comparing affine expressions of design parameters such as task workload, processing speed, robot travelling speed, or a controller's rise and settling time. Deterministic schedulers can be extended with symbolic execution, to keep track of the affine conditions on the parameters for which the scheduling decisions are made. We introduce a divide-and-conquer algorithm that uses this information to determine parameter regions for which the same sequence of decisions is taken given a particular scenario. The results provide designers insight in the impact of parameter changes on the performance of their system. The exploration can also be executed with the KLEE symbolic execution engine of the LLVM tool chain to extract the same results. We show that the divide-and-conquer approach provides the results much faster than the generic symbolic execution engine of KLEE. The results allow visualization of the sensitivity to all parameter combinations. The results of our approach therefore provide more insight in the sensitivity to parameters.

关键词： Real time scheduling system design re-entrant flexible manufacturing system

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ReSQM: Accelerating Database Operations Using ReRAM-Based Content Addressable Memory

ReSQM: Accelerating Database Operations Using ReRAM-Based Co...

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作者： Li, Huize Jin, Hai Zheng, Long Liao, Xiaofei National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China

The huge amount of data enforces great pressure on the processing efficiency of database systems. By leveraging the in-situ computing ability of emerging nonvolatile memory, processing-in-memory (PIM) technology shows great potential in accelerating database operations against traditional architectures without data movement overheads. In this article, we introduce ReSQM, a novel ReCAM-based accelerator, which can dramatically reduce the response time of database systems. The key novelty of ReSQM is that some commonly used database queries that would be otherwise processed inefficiently in previous studies can be in-situ accomplished with massively high parallelism by exploiting the PIM-enabled ReCAM array. ReSQM supports some typical database queries (such as SELECTION, SORT, and JOIN) effectively based on the limited computational mode of the ReCAM array. ReSQM is also equipped with a series of hardware-algorithm co-designs to maximize efficiency. We present a new data mapping mechanism that allows enjoying in-situ in-memory computations for SELECTION operating upon intermediate results. We also develop a count-based ReCAM-specific algorithm to enable the in-memory sorting without any row swapping. The relational comparisons are integrated for accelerating inequality join by making a few modifications to the ReCAM cells with negligible hardware overhead. The experimental results show that ReSQM can improve the (energy) efficiency by $611\times $ ( $193\times $ ), $19\times $ ( $17\times $ ), $59\times $ ( $43\times $ ), and $307\times $ ( $181\times $ ) in comparison to a 10-core Intel Xeon E5-2630v4 processor for SELECTION, SORT, equi-join, and inequality join, respectively. In contrast to state-of-the-art CMOS-based CAM, GPU, FPGA, NDP, and PIM solutions, ReSQM can also offer $2.2\times 39\times $ speedups. © 1982-2012 IEEE.

关键词： Query languages

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international conference on Compilers, Architecture, and synthesis for Embedded systems (CODES +ISSS) 2019 - Table of Contents

International Conference on Compilers, Architecture, and Syn...

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international conference on hardware/software codesign and system synthesis (CODES)

Presents the table of contents/splash page of the proceedings record.

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Algorithm-hardware Co-design of Attention Mechanism on FPGA Devices

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ACM TRANSACTIONS ON EMBEDDED COMPUTING systemS 2021年第5期20卷 71-71页

作者： Zhang, Xinyi Wu, Yawen Zhou, Peipei Tang, Xulong Hu, Jingtong Univ Pittsburgh Swanson Sch Engn Elect & Comp Engn Pittsburgh PA 15260 USA Univ Pittsburgh Sch Comp & Informat Comp Sci Pittsburgh PA 15260 USA

Multi-head self-attention (attention mechanism) has been employed in a variety of fields such as machine translation, language modeling, and image processing due to its superiority in feature extraction and sequential data analysis. This is benefited from a large number of parameters and sophisticated model architecture behind the attention mechanism. To efficiently deploy attention mechanism on resource-constrained devices, existing works propose to reduce the model size by building a customized smaller model or compressing a big standard model. A customized smaller model is usually optimized for the specific task and needs effort in model parameters exploration. Model compression reduces model size without hurting the model architecture robustness, which can be efficiently applied to different tasks. The compressed weights in the model are usually regularly shaped (e.g. rectangle) but the dimension sizes vary (e.g. differs in rectangle height and width). Such compressed attention mechanism can be efficiently deployed on CPU/GPU platforms as their memory and computing resources can be flexibly assigned with demand. However, for Field Programmable Gate Arrays (FPGAs), the data buffer allocation and computing kernel are fixed at run time to achieve maximum energy efficiency. After compression, weights are much smaller and different in size, which leads to inefficient utilization of FPGA on-chip buffer. Moreover, the different weight heights and widths may lead to inefficient FPGA computing kernel execution. Due to the large number of weights in the attention mechanism, building a unique buffer and computing kernel for each compressed weight on FPGA is not feasible. In this work, we jointly consider the compression impact on buffer allocation and the required computing kernel during the attention mechanism compressing. A novel structural pruning method with memory footprint awareness is proposed and the associated accelerator on FPGA is designed. The experimental resu

关键词： Co-design algorithm hardware attention transformer FPGA tops

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MARS: mm Wave-based Assistive Rehabilitation system for Smart Healthcare

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ACM TRANSACTIONS ON EMBEDDED COMPUTING systemS 2021年第5期20卷 72-72页

作者： An, Sizhe Ogras, Umit Y. Univ Wisconsin Dept Elect & Comp Engn Madison WI 53706 USA

Rehabilitation is a crucial process for patients suffering from motor disorders. The current practice is performing rehabilitation exercises under clinical expert supervision. New approaches are needed to allow patients to perform prescribed exercises at their homes and alleviate commuting requirements, expert shortages, and healthcare costs. Human joint estimation is a substantial component of these programs since it offers valuable visualization and feedback based on body movements. Camera-based systems have been popular for capturing joint motion. However, they have high-cost, raise serious privacy concerns, and require strict lighting and placement settings. We propose a millimeter-wave (mmWave)-based assistive rehabilitation system (MARS) for motor disorders to address these challenges. MARS provides a low-cost solution with a competitive object localization and detection accuracy. It first maps the 5D time-series point cloud from mmWave to a lower dimension. Then, it uses a convolution neural network (CNN) to estimate the accurate location of human joints. MARS can reconstruct 19 human joints and their skeleton from the point cloud generated by mmWave radar. We evaluate MARS using ten specific rehabilitation movements performed by four human subjects involving all body parts and obtain an average mean absolute error of 5.87 cm for all joint positions. To the best of our knowledge, this is the first rehabilitation movements dataset using mmWave point cloud. MARS is evaluated on the Nvidia Jetson Xavier-NX board. Model inference takes only 64 mu s and consumes 442 mu J energy. These results demonstrate the practicality of MARS on low-power edge devices.

关键词： Human pose estimation point cloud millimeter wave smart healthcare

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Synterface: Efficient Chip-to-World Interfacing for Flow-Based Microfluidic Biochips Using Pin-Count Minimization

Synterface: Efficient Chip-to-World Interfacing for Flow-Bas...

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作者： Sridhar, Aditya Ibrahim, Mohamed Chakrabarty, Krishnendu Duke Univ Dept Elect & Comp Engn 130 Hudson Hall Durham NC 27708 USA

Flow-based microfluidic biochips can be used to perform bioassays by manipulating a large number of on-chip valves. These biochips are increasingly used today for biomolecular recognition, single-cell screening, and point-of-care disease diagnostics, and design-automation solutions for flow-based microfluidics enable the mapping and optimization of bimolecular protocols and software-based valve control. However, a key problem that has not received adequate attention is chip-to-world interfacing, which requires the use of off-chip control equipment to provide control signals for the on-chip valves. This problem is exacerbated by the increase in the number of valves as chips get more complex. To address the interfacing problem, we present an efficient pin-count minimization (synthesis) problem, referred to as Synterface, which uses on-chip microfluidic logic gates and optimization based on concepts from linear algebra. We present results to show that Synterface significantly reduces pin-count and simplifies the external interface for flow-based microfluidics.

关键词： Microfluidic biochips chip-to-world interfacing synthesis logic gates

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Cache Locking Content Selection Algorithms for ARINC-653 Compliant RTOS

Cache Locking Content Selection Algorithms for ARINC-653 Com...

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作者： Dugo, Alexy Torres Aurora Lefoul, Jean-Baptiste De Magalhaes, Felipe Gohring Assal, Dahman Nicolescu, Gabriela Ecole Polytech Montreal 2900 Boul Edouard Montpetit Montreal PQ Canada Mannarino Syst & Software Inc Montreal PQ Canada

Avionic software is the subject of stringent real time, determinism and safety constraints. software designers face several challenges, one of them being the interferences that appear in common situations, such as resource sharing. The interferences introduce non-determinism and delays in execution time. One of the main interference prone resources are cache memories. In single-core processors, caches comprise multiple private levels. This breaks the isolation principle imposed by avionic standards, such as the ARINC-653. This standard defines partitioned architectures where one partition should never directly interfere with another one. In cache-based architectures, one partition can modify the cache content of another partition. In this paper, we propose a method based on cache locking to reduce the non-determinism and the contention on lower level memories while improving the time performances.

关键词： Critical systems ARINC-653 interference cache locking aerospace

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Work-in-Progress: Offloading Cache Configuration Prediction to an FPGA for hardware Speedup and Overhead Reduction

Work-in-Progress: Offloading Cache Configuration Prediction ...

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international conference on hardware/software codesign and system synthesis (CODES)

作者： Ruben Vazquez Ann Gordon-Ross Greg Stitt University of Florida Gainesville United States

In this paper, we present our cache configuration prediction methodology offloaded to an FPGA for improved performance and hardware overhead reduction, while maintaining cache configuration predictions within 5% of th...

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