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International Conference on Distributed computing Systems

作者： A. Olson K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Synchronization algorithm is proposed which uses one of two probabilistic techniques to estimate remote clock values, and uses an interactive convergence algorithm on the resulting estimates to adjust the local clock. The algorithm does not require master/slave clocks and reduces the number of messages needed. As a result it is suitable for use in large distributed systems.< >

关键词： Clocks Synchronization Hardware Master-slave Contracts Real time systems Distributed computing Laboratories NASA Software algorithms

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Optimal Load Sharing In Distributed Real-time Systems

Optimal Load Sharing In Distributed Real-time Systems

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Distributed Memory computing Conference

作者： Yi-Chieh Chang Kang G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

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Collision avoidance in a multiple-robot system using intelligent control and neural networks

Collision avoidance in a multiple-robot system using intelli...

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IEEE Conference on Decision and Control

作者： K.G. Shin X. Cui Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A new hierarchical collision avoidance scheme is proposed to coordinate multiple robots in a common workspace by combining the techniques of intelligent control and neural networks (NNs). The high level in the hierarchy is formed by a knowledge-based coordinator (KBC) and an NN-based predictor, and the low level consists of the robots to be coordinated. The authors state the problem of coordinating multiple robots for collision avoidance and the basic principles of the KBC. The knowledge acquisition and representation of collision detection and avoidance for both cylindrical- and revolute-type robots are discussed. Design of the NN-based predictor and the KBC is summarized. The proposed scheme was tested extensively via simulations for both types of robots, showing promising performance.< >

关键词： Collision avoidance Intelligent networks Intelligent control Neural networks Robot kinematics Path planning Service robots Robotic assembly Trajectory Servomechanisms

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Fault-Tolerance in Real-time Systems

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IFAC Proceedings Volumes 1991年第2期24卷 119-121页

作者： K.G. Shin G. Koob F. Jahanian Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science The University of Michigan Ann Arbor MI 48109-2122 USA Office of Naval Research Code 1133 800 N. Quincy Street Arlington VA 22217-5000 USA IBM T.J. Watson Research Center P.O. Box 704 Yorktown Heights NY 10598 USA

With ever-increasing reliance on digital computers in embedded systems such as in space, avionics, manufacturing, and life-support monitoring/control applications, the need for dependable systems that deliver services in a timely manner has become crucial. Embedded systems often interact with the external environment and operate under strict timeliness and reliability requirements. Fault tolerance and real-time requirements on a system often influence one another in subtle ways, for example, the requirements on a highly—available system, such as an air traffic control system, may derive the timing constraints imposed on certain critical tasks. In cases where a set of interacting tasks operate under strict timing constraints, missing a deadline may result in a catastrophic system failure, which was termed a dynamic failure in (Shin, Krishna, and Lee, 1985). This paper argues that fault- tolerance and real-time requirements are not orthogonal and it addresses some of the challenges that confront the designers of fault-tolerant real-time systems. These challenges include formal specification of reliability and timing requirements, appropriate language and operating system support for providing fault-tolerance in a time-critical system, new scheduling theories which consider multiple resources and fault-tolerance, tradeoff between time and space redundancy, and predictable redundancy management in the presence of faults.

关键词： Fault-tolerance real-time systems reliability time and space redundancy run-time monitoring specification

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DESIGN FOR TEST USING PARTIAL PARALLEL SCAN

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IEEE TRANSACTIONS ON computer-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS 1990年第2期9卷 203-211页

作者： LEE, SG SHIN, KG Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Traditional scan design techniques such as level-sensitive scan design, scan path, and random-access scan suffer from the drawback that the extra test application effort (which includes both time and memory) required is directly proportional to the number of latches and can become quite significant. A scan design technique termed partial parallel scan which reduces test application effort by one to two orders of magnitude is presented. Theoretical and practical aspects of the design method are discussed. The practical use of the partial parallel scan technique has been demonstrated with an LSI circuit and a VLSI circuit designed using silicon compiler tools.< >

关键词： Circuit testing Latches Design for testability Hardware Circuit faults Design automation Switches Design methodology Large scale integration Very large scale integration

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Load sharing in hypercube multicomputer in the presence of node failures 5

Load sharing in hypercube multicomputer in the presence of n...

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5th Distributed Memory computing Conference, DMCC 1990

作者： Chang, Yi-Chieh Shin, Kang G. Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109-2122 United States

ISBN: (纸本)0818621133

This paper discusses and analyzes two load sharing (LS) issues: adjusting preferred lists and implementing a fault-tolerant mechanism in the presence of node failures. In an early paper, we have proposed to order the nodes in each node's proximity into a preferred list for the purpose of load sharing in distributed real-time systems. The preferred list of each node is constructed in such a way that each node will be selected as the kth preferred node by one and only one other node. Such lists are proven to allow the tasks to be evenly distributed in a system. However, the presence of faulty nodes will destroy the original structure of a preferred list if the faulty nodes are simply skipped in the preferred list. An algorithm is therefore proposed to modify each preferred list to retain its original features regardless of the number of faulty nodes in the system. The communication overhead introduced by this algorithm is shown to be minimal. Based on the modified preferred lists, a simple fault-tolerant mechanism is implemented. Each node is equipped with a backup queue which stores and updates the arriving/completing tasks at its most preferred node. Whenever a node becomes faulty, its most preferred node will treat the tasks in the ba,ckup queue as externally arriving tasks. Our simulation results show that this approach, despite of the simplicity, can reduce the number of task losses dramatically, as compared to the approaches without any faulttolerant mechanism. © 1990 IEEE.

关键词： Real time systems

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Traffic routing for multi-computer networks with virtual cut-through capability

Traffic routing for multi-computer networks with virtual cut...

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International Conference on Distributed computing Systems

作者： D.D. Kandlur K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA

The problem of selecting routes for interprocess communication in a network with virtual cut-through capability, while balancing the network load and minimizing the number of times that a message gets buffered, is addressed. The approach taken is to formulate the route selection problem as a minimization problem, with a link cost function that depends on the traffic through the link. The form of this cost function is derived on the basis of the probability of establishing a virtual cut-through route. It is shown that this route selection problem is NP-hard, and so an approximate algorithm that tries to reduce the cost incrementally by rerouting traffic is developed. The performance of this algorithm is evaluated for two popular network topologies: the hypercube and the C-wrapped hexagonal mesh.< >

关键词： Telecommunication traffic Routing Packet switching Delay Cost function Hypercubes Application software Multiprocessor interconnection networks Telecommunication network reliability Communication system control

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A distributed I/O architecture for HARTS

A distributed I/O architecture for HARTS

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Annual International Symposium on computer Architecture, ISCA

作者： K.G. Shin G. Dykema Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

The issue of I/O device access in HARTS (Hexagonal Architecture for Real-time Systems)-a distributed real-time computer system under construction at the University of Michigan-is explicitly addressed. Several candidate solutions are introduced, explored and evaluated according to cost, complexity, reliability, and performance: (1) 'node-direct' distribution with the intranode bus and a local I/O bus; (2) use of dedicated I/O nodes, which are placed in the hexagonal mesh as regular applications nodes, but which provide I/O services rather than computing services; and (3) use of a separate I/O network; which has led to the proposal of an 'interlaced' I/O network. The interlaced I/O network is intended to provide both high performance without burdening node processors with I/O overhead and a high degree of reliability. Both static and dynamic multiownership protocols are developed for managing I/O device access in this I/O network. The relative merits of the two protocols are explored, and the performance and accessibility which each provides are simulated.< >

关键词： Real time systems Distributed computing Topology computer architecture Laboratories Costs Proposals Access protocols Hypercubes computer networks

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Shortest path planning with dominance relation

Shortest path planning with dominance relation

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Jun K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space, where the space of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. In spite of the arbitrary shape of partitioned regions, it is proved that there exist dominance relations between regions. This relation is then utilized to solve efficiently the shortest path planning problem in 3-D or higher space.< >

关键词： Path planning Shape Costs Application software Manipulators Laboratories Remotely operated vehicles Mobile robots Routing Very large scale integration

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Analysis of three contention protocols in distributed real-time systems

Analysis of three contention protocols in distributed real-t...

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Real-time Systems Symposium (RTSS)

作者： K.G. Shin C.-J. Hou Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

The probability of a station/node failing to deliver packets before their deadlines, called the probability of dynamic failure, P/sub dyn/, and the in -bounded delivery time, which is defined as the time period between the arrival of a packet and its delivery with probability greater than 1- in , are important performance parameters for the communication subsystems of a distributed real-time system. The parameters are derived and are used to evaluate the token passing protocol, the token ring scheduling protocol, and the P/sub i/-persistent protocol and a priority-based variation thereof. The communication subsystem equipped with different contention protocols as embedded Markov chains is modeled. The probability distributions of the access delay are then derived, from which P/sub dyn/ and T/sub in / can be calculated. Using P/sub dyn/ and I/sub in / as indices, the performances of these contention protocols are evaluated and compared over a wide range of traffic.< >

关键词： Real time systems Access protocols Token networks Delay Timing Distributed computing Throughput Multiaccess communication Chaotic communication Laboratories

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