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distributed Multilevel Data Fusion for Networked embedded systems

IEEE JOURNAL OF SELECTED TOPICS IN SIGNAL PROCESSING 2008年第4期2卷 538-555页

作者： Klausner, Andreas Tengg, Allan Rinner, Bernhard Graz Univ Technol Inst Tech Informat A-8010 Graz Austria Klagenfurt Univ Pervas Comp Grp A-9020 Klagenfurt Austria

Recently much research has been conducted in visual sensor networks. Compared to traditional sensor networks, vision networks differ in various aspects such as the amount of data to be processed and transmitted, the requirements on quality-of-service, and the level of collaboration among the sensor nodes. This paper deals with sensor fusion on visual sensor networks. We focus here on methods for fusing data from various distributed sensors and present a generic framework for fusion on embedded sensor nodes. This paper extends our previous work on distributed smart cameras and presents our approach toward the transformation of smart cameras into a distributed, embedded multisensor network. Our generic fusion model has been completely implemented on a distributed embedded system. It provides a middleware which supports automatic mapping of our fusion model to the target hardware. This middleware features dynamic reconfiguration to support modification of the fusion application at runtime without loss of sensor data. The feasibility and reusability of the I-SENSE concept is demonstrated with experimental results of two case studies: vehicle classification and bulk good separation. Qualitative and quantitative benefits or multilevel information fusion are outlined in this article.

关键词： distributed embedded systems middleware sensor fusion vehicle classification

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Scheduling and mapping in an incremental design methodology for distributed real-time embedded systems

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IEEE TRANSACTIONS ON VERY LARGE SCALE INTEGRATION (VLSI) systems 2004年第8期12卷 793-811页

作者： Pop, P Eles, P Peng, Z Pop, T Linkoping Univ Dept Comp & Informat Sci SE-58183 Linkoping Sweden

In this paper, we present an approach to mapping and scheduling of distributed embedded systems for hard real-time applications, aiming at a minimization of the system modification cost. We consider an incremental design process that starts from an already existing system running a set of applications. We are interested in implementing new functionality such that the timing requirements are fulfilled and the following two requirements are also satisfied: 1) the already running applications are disturbed as little as possible and 2) there is a good chance that later, new functionality can easily be added to the resulted system. Thus, we propose a heuristic that finds the set of already running applications which have to be remapped and rescheduled at the same time with mapping and scheduling the new application, such that the disturbance on the running system (expressed as the total cost implied by the modifications) is minimized. Once this set of applications has been determined, we outline a mapping and scheduling algorithm aimed at fulfilling the requirements stated above. The approaches have been evaluated based on extensive experiments using a large number of generated benchmarks as well as a real-life example.

关键词： distributed embedded systems incremental design process mapping process scheduling real-time systems

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Modeling, implementation, and analysis of XRCE-DDS applications in distributed multi-processor real-time embedded systems

Modeling, implementation, and analysis of XRCE-DDS applicati...

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Design, Automation and Test in Europe Conference and Exhibition (DATE)

作者： Dehnavi, Saeid Goswami, Dip Koedam, Martijn Nelson, Andrew Goossens, Kees Eindhoven Univ Technol Dept Elect Engn Eindhoven Netherlands

ISBN: (纸本)9783981926354

The Publish-Subscribe paradigm is a design pattern for transparent communication in many recent distributed applications. Data Distribution Service (DDS) is a machine-to-machine communication standard that aims to provide reliable, high-performance, inter-operable, and real-time data exchange based on publish-subscribe paradigm. However, the high resource requirement of DDS limits its usage in low-cost embedded systems. XRCE-DDS is a Client-Agent based standard to enable resource-constrained small embedded systems to connect to the DDS global data space. Current XRCE-DDS implementations suffer from dependencies with host operating systems, target only single processing units, and lack performance analysis methods. In this paper, we present a bare-metal implementation of XRCE-DDS standard on the CompSOC platform as an instance of Multi-Processor System on Chip (MPSoC). The proposed framework includes a hard real-time side hosting the XRCE-DDS Client, and a soft real-time side hosting the XRCE-DDS Agent. A Scenario Aware Data Flow (SADF) model is proposed to capture the dynamism of the system behavior in terms of different execution scenarios. We analyze the long-term expected value for throughput by capturing the probabilistic scenario switching using a proposed Markov model which is experimentally validated.

关键词： Real-time systems Multi-processor Data Distribution Service (DDS) XRCE-DDS distributed embedded systems

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A Framework for the Development of Parallel and distributed Real-Time embedded systems

A Framework for the Development of Parallel and Distributed ...

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38th EUROMICRO Conference on Software Engineering and Advanced Applications (SEAA) / 15th EUROMICRO Digital systems Design (DSD)

作者： Garibay-Martinez, Ricardo Ferreira, Luis Lino Pinho, Luis Miguel Polytech Inst Porto CISTER INESC TEC ISEP Oporto Portugal

ISBN: (纸本)9780769547909

embedded real-time applications increasingly present high computation requirements, which need to be completed within specific deadlines. But, those applications present highly variable patterns, depending on the data set in a determined instant. The current trend to provide parallel processing in the embedded domain allows providing higher processing power;however, it does not address the variability in the processing pattern. Dimensioning each device for its worst-case scenario implies lower average utilization, and increased available, but unusable, processing in the overall system. A solution for this problem is to extend the parallel execution of the applications, allowing networked nodes to distribute the workload, on peak situations, to neighbour nodes. In this context, this paper proposes a framework to develop parallel and distributed real-time embedded applications, transparently using OpenMP and Message Passing Interface (MPI), within a programming model based on OpenMP. The paper also devises an integrated timing model, which enables the structured reasoning on the timing behaviour of these hybrid architectures.

关键词： real-time parallel execution distributed embedded systems hybrid programming model OpenMP MPI

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A PROCESSOR ARRAY MODULE FOR distributed, MASSIVELY-PARALLEL, embedded COMPUTING

MICROPROCESSING AND MICROPROGRAMMING

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MICROPROCESSING AND MICROPROGRAMMING 1993年第1-5期38卷 529-537页

作者： BENGTSSON, L NILSSON, K SVENSSON, B HALMSTAD UNIV CTR COMP ARCHITECTURES-30118 HALMSTADSWEDEN CHALMERS UNIV TECHNOL DEPT COMP ENGNS-41296 GOTHENBURGSWEDEN

With the increased degree of miniaturization resulting from the use of modem VLSI technology and the high communication bandwidth available through optical connections, it is now possible to build massively parallel computers based on distributed modules which can be embedded in advanced industrial products. Examples of such future possibilities are ''action-oriented systems'', in which a network of highly parallel modules perform a multitude of tasks related to perception, cognition, and action. The paper discusses questions of architecture on the level of modules and inter-module communication and gives concrete architectural solutions which meet the demands of typical, advanced industrial real-time applications. The interface between the processors arrays and the all-optical communication network is described in some detail. Implementation issues specifically related to the demand for miniaturization are discussed.

关键词： PARALLEL PROCESSING distributed embedded systems MASSIVE PARALLELISM LEARNING systems REAL-TIME COMPUTER systems OPTICAL COMMUNICATION

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Towards Transparent Parallel/distributed Support for Real-Time embedded Applications

Towards Transparent Parallel/Distributed Support for Real-Ti...

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8th IEEE International Symposium on Industrial embedded systems (SIES)

作者： Garibay-Martinez, Ricardo Ferreira, Luis Lino Maia, Claudio Pinho, Luis Miguel Polytech Inst Porto ISEP CISTER INESC TEC Oporto Portugal

ISBN: (纸本)9781479906581

An increasing number of real-time embedded applications present high computation requirements which need to be realized within strict time constraints. Simultaneously, architectures are becoming more and more heterogeneous, programming models are having difficulty in scaling or stepping outside of a particular domain, and programming such solutions requires detailed knowledge of the system and the skills of an experienced programmer. In this context, this paper advocates the transparent integration of a parallel and distributed execution framework, capable of meeting real-time constraints, based on OpenMP programming model, and using MPI as the distribution mechanism. The paper also introduces our modified implementation of GCC compiler, enabled to support such parallel and distributed computations, which is evaluated through a real implementation. This evaluation gives important hints, towards the development of the parallel/distributed fork-join framework for supporting real-time embedded applications.

关键词： parallel execution real-time distributed embedded systems compiler support GCC OpenMP MPI

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Approaching Coordination in distributed embedded Applications with the Peer Model DSL 40

Approaching Coordination in Distributed Embedded Application...

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40th Euromicro Conference on Software Engineering and Advanced Applications (SEAA)

作者： Kuehn, Eva Crass, Stefan Hamboeck, Thomas Vienna Univ Technol Inst Comp Languages Vienna Austria

ISBN: (纸本)9781479957958

Coordination in distributed embedded systems requires complex synchronization of many concurrent activities. This task becomes especially difficult when network and system failures have to be assumed. The Peer Model is a novel programming model for the design of coordination strategies among multiple nodes, aiming to bridge design and implementation. A major advantage is that designs based on the Peer Model are very flexible regarding changing requirements and policies. The motivating use case is an application in the railway domain where embedded nodes detect approaching trains and route this information over several forwarder nodes to the level crossing. In this paper, we present a Domain Specific Language for the Peer Model which allows to automatically generate a graphical documentation and source code for different embedded platforms. It lays the foundations for an embedded system software development toolchain. We prove the feasibility by implementing an event notification strategy for the level crossing use case.

关键词： concurrency control distributed processing embedded systems railway engineering software engineering source code (software) system documentation approaching train detection complex synchronization concurrent activities distributed embedded systems domain specific language embedded nodes embedded platforms embedded system software devel- opment toolchain event notification strategy forwarder nodes graphical documentation level crossing peer model programming model railway domain source code system failures Containers Documentation Middleware Peer-to-peer computing Unified modeling language Wiring LEVEL CROSSING embedded systems concurrent activities system failures program and system documentation Railway engineering Peer to peer computing Source code UML WIRING Concurrency control distributed processing Middleware CONTAINERS Software engineering

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Low-cost error containment and recovery for onboard guarded software upgrading and beyond

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IEEE TRANSACTIONS ON COMPUTERS 2002年第2期51卷 121-137页

作者： Tai, AT Tso, KS Alkalai, L Chau, SN Sanders, WH IA Tech Inc Los Angeles CA 90024 USA Jet Propuls Lab Pasadena CA 91109 USA Univ Illinois Urbana IL 61801 USA

Message-driven confidence-driven (MDCD) error containment and recovery, a low-cost approach to mitigating the effect of software design faults in distributed embedded systems, is developed for onboard guarded software upgrading for deep-space missions. In this paper, we first describe and verify the MDCD algorithms in which we introduce the notion of "confidence-driven" to complement the "communication-induced" approach employed by a number of existing checkpointing protocols to achieve error containment and recovery efficiency. We then conduct a model-based analysis to show that the algorithms ensure low performance overhead. Finally, we discuss the advantages of the MDCD approach and its potential utility as a general-purpose, low-cost software fault tolerance technique for distributed embedded computing.

关键词： guarded software upgrading message-driven confidence-driven global state consistency and recoverability performance overhead software fault tolerance distributed embedded systems

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Holistic Scheduling of Real-Time Applications in Time-Triggered In-Vehicle Networks

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2014年第3期10卷 1817-1828页

作者： Hu, Menglan Luo, Jun Wang, Yang Lukasiewycz, Martin Zeng, Zeng Nanyang Technol Univ Sch Comp Engn Singapore 639798 Singapore Huazhong Univ Sci & Technol Dept Elect & Informat Engn Wuhan 430074 Peoples R China Univ New Brunswick Fac Comp Sci Fredericton NB E3B 5A3 Canada Tech Univ Munich CREATE Ctr Singapore 138602 Singapore Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

As time-triggered communication protocols [e. g., time-triggered controller area network (TTCAN), time-triggered protocol (TTP), and FlexRay] are widely used on vehicles, the scheduling of tasks and messages on in-vehicle networks becomes a critical issue for offering quality-of-service (QoS) guarantees to time-critical applications on vehicles. This paper studies a holistic scheduling problem for handling real-time applications in time-triggered in-vehicle networks where practical aspects in system design and integration are captured. The contributions of this paper are multifold. First, it designs a novel scheduling algorithm, referred to as Unfixed Start Time (UST) algorithm, which schedules tasks and messages in a flexible way to enhance schedulability. In addition, to tolerate assignment conflicts and further improve schedulability, it proposes two rescheduling and backtracking methods, namely, Rescheduling with Offset Modification (ROM) and Backtracking and Priority Promotion (BPP) procedures. Extensive performance evaluation studies are conducted to quantify the performance of the proposed algorithm under a variety of scenarios.

关键词： Automotive electronics distributed embedded systems FlexRay in-vehicle networks list scheduling real-time scheduling task graphs time-triggered systems

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FLEXIBLE FAULT TOLERANCE FOR distributed COMPUTER-systems

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IEE PROCEEDINGS-E COMPUTERS AND DIGITAL TECHNIQUES 1986年第6期133卷 319-332页

作者： LOQUES, OG KRAMER, J UNIV LONDON IMPERIAL COLL SCI & TECHNOL DEPT COMPLONDON SW7 2BZENGLAND

Many applications have a need for different degrees of fault tolerance in the same system. The paper presents the software architecture of a fault-tolerant distributed system which supports both cold and hot standby redundancy of selected software modules. Cold standby modules are created and activated by the system in order to replace failed modules, but no state information is preserved. Hot standby modules do preserve state information and provide transparent recovery from failures. A technique is used that allows modules to be programmed without fault-tolerance in mind; afterwards they can be transformed in order to achieve that capability. These two types of redundancy are supported by common mechanisms which provide for detection of failures and reconfiguration of the software modules of the application. Reconfiguration is also used to recover the reliability of the system by providing further standby modules to replace failed ones. We believe that this approach provides a simple, flexible, and practical approach for the provision of fault tolerance in distributed embedded systems.

关键词： flexible fault tolerance software engineering standby modules Operating systems software modules fault-tolerant distributed system state information distributed processing transparent recovery distributed embedded systems software architecture distributed computer systems systems analysis and programming fault tolerant computing

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