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An interdisciplinary approach to autonomous team-based exploration in disaster scenarios 12

An interdisciplinary approach to autonomous team-based explo...

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12th IEEE International Symposium on Safety, Security and Rescue robotics, SSRR 2014

作者： Gernert, Björn Schildt, Sebastian Wolf, Lars Zeise, Björn Fritsche, Paul Wagner, Bernardo Fiosins, Maksims Manesh, Ramin Safar Müller, Jörg P. Institute of Operating Systems and Computer Networks Technische Universität Braunschweig Braunschweig Germany Institute of Systems Engineering Real Time Systems Group Leibniz Universität Hannover Hannover Germany Institute of Informatics Technische Universität Clausthal Clausthal Germany

ISBN: (纸本)9781479941995

Autonomous robots can be used to perform reconnaissance missions in disaster scenarios when the safety of humans cannot be guaranteed. We developed an interdisciplinary approach to autonomous team-based exploration in such settings. The introduced system architecture consists of robust communication and reactive task allocation, built upon a research robot platform. A team of robots autonomously executes exploration tasks deploying a long-term sensor network. All robots and sensors are linked through the so-called distributed common information model (dCIM), which is the global knowledge base of our system. It enables the robots to share a unified environment model and to perform dynamic task scheduling. All key softand hardware elements presented in this paper have been prototypically implemented and tested. © 2014 IEEE.

关键词： Robots

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Forget the battery, let's play games!

Forget the battery, let's play games!

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Embedded systems for real-time Multimedia (EStimedia)

作者： Benedikt Dietrich Samarjit Chakraborty Institute for Real-time Computer Systems Technical University of Munich Germany

Today, the battery life of mobile devices like smart-phones stand as a major obstacle between us and our favorite games. Our goal is to solve this problem using customized power management policies tailored for interactive workloads like game applications. In contrast to video processing, power management for gaming applications is a new field of study and has to account for workload changes based on the users input. We have for the first time studied the stability properties of PID controller-based workload prediction schemes - that have been widely used for video applications - and shown that they do not work for games. Instead, new workload models based on time series modeling are better suited for gaming applications. Using them we have developed power management schemes for modern closed-source games using a DLL injection scheme; all previous techniques required instrumenting the game source code to collect execution times of game frames at runtime. Finally, in this paper we also summarize a number of open problems in this area and outline the potential for new research opportunities.

关键词： Games Power demand Loading Rendering (computer graphics) time-frequency analysis Predictive models Batteries

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Quality-aware video decoding on thermally-constrained MPSoC platforms

Quality-aware video decoding on thermally-constrained MPSoC ...

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International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： Deepak Gangadharan Jürgen Teich Samarjit Chakraborty Department of Computer Science Friedrich-Alexander University Institute for Real-Time Computer Systems TU Munich

Current mobile devices extensively run video players that are power hungry. Further, higher power densities as a result of technology scaling results in higher on-chip temperatures. Unlike general purpose computer systems, mobile devices that run on batteries cannot afford to have expensive cooling mechanisms. Therefore, in order to satisfy thermal constraints while running power hungry applications, dynamic thermal management (DTM) techniques have been employed. For multimedia applications, the techniques primarily relied on dynamic voltage and frequency scaling (DVFS) and dynamic power management (DPM) while taking care that maximum video quality is achieved. However, no prior work has exploited frame drops to lower the inserted idle times under predetermined quality constraints. In this work, we propose a DPM framework that utilizes frame drops to dynamically insert low idle times in order to satisfy a peak temperature constraint under a given quality constraint. This also reduces the end-to-end latency. The latencies are further reduced by maintaining lightweight workload histories. For the videos used in our experiments, it was observed that a small reduction in quality of 2 dB (reduction from 32 dB to 30 dB) due to frame drops in motion videos results in a maximum latency reduction of 1.7 sec.

关键词： Streaming media Quality of service Decoding Multimedia communication Degradation Measurement Thermal degradation

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An interdisciplinary approach to autonomous team-based exploration in disaster scenarios

An interdisciplinary approach to autonomous team-based explo...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Björn Gernert Sebastian Schildt Lars Wolf Björn Zeise Paul Fritsche Bernardo Wagner Maksims Fiosins Ramin Safar Manesh Jörg P. Müller Institute of Operating Systems and Computer Networks Technische Universität Braunschweig Braunschweig Germany Institute of Systems Engineering - Real Time Systems Group Leibniz Universität Hannover Hannover Germany Institute of Informatics Technische Universität Clausthal Clausthal Germany

Autonomous robots can be used to perform reconnaissance missions in disaster scenarios when the safety of humans cannot be guaranteed. We developed an interdisciplinary approach to autonomous team-based exploration in such settings. The introduced system architecture consists of robust communication and reactive task allocation, built upon a research robot platform. A team of robots autonomously executes exploration tasks deploying a long-term sensor network. All robots and sensors are linked through the so-called distributed common information model (dCIM), which is the global knowledge base of our system. It enables the robots to share a unified environment model and to perform dynamic task scheduling. All key soft-and hardware elements presented in this paper have been prototypically implemented and tested.

关键词： Robot kinematics Robot sensing systems Wireless sensor networks IEEE 802.11 Standards Protocols Schedules

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DEMO: Power management using game state detection on android smartphones

DEMO: Power management using game state detection on android...

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11th Annual International Conference on Mobile systems, Applications, and Services, MobiSys 2013

作者： Dietrich, Benedikt Chakraborty, Samarjit Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781450316729

Welcome to MobiSys 2013: The Eleventh International Conference on Mobile systems, Applications, and Services. As the premier forum for presenting the latest research in mobile and wireless systems, this year's conference attracted a record number of 211 submissions, a sign of continuing vibrancy and increasing maturity of our community. In addition to the strong technical program covering virtually every major topic of mobile systems research, we've incorporated a new video program showcasing innovative ideas selected from submissions, and have continued the tradition of having an interactive demo and poster fest. The Technical Program Committee and Industrial Reviewer Panel are to be lauded for their extraordinary effort in vetting each paper with care during the rigorous review process. Each paper was assigned to three Program Committee members for a first round of reviews. Each of the 211 papers with at least one positive review (weak accept) was assigned two additional reviewers from the Program Committee in the second round. A paper with potential industrial applications was further assigned to an Industrial Reviewer Committee member. In all, the Program Committee members and industrial reviewers generated 866 reviews and the top 60 papers received at least 5 reviews. The Program Committee met for a full day at Jekyll Island, Georgia, USA. The Committee discussed the top 60 papers and accepted 33 papers for the program. Each of these 33 papers was shepherded by a member of the Program Committee, to ensure that recommendations made by the reviewers and during the Program Committee meeting were satisfactorily addressed. The resulting technical program is the fruit of labor by many. We want to thank all the authors of submitted papers. We are indebted to the Technical Program Committee and Industry Reviewer Panel for their extraordinary work in reviewing papers and providing feedback for the authors, and the Video Program Committee for reviewing and selecting the

关键词： Power management

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Characterizing feedback signal drop patterns in formal verification of networked control systems

Characterizing feedback signal drop patterns in formal verif...

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2013 IEEE Conference on computer Aided Control System Design, CACSD 2013

作者： Goswami, Dip Chakraborty, Samarjit Bhaduri, Purandar Mitter, Sanjoy K. Institute for Real-Time Computer Systems TU Munich Germany Department of Computer Science and Engineering IIT Guwahati India Laboratory for Information and Decision Systems MIT United States

ISBN: (纸本)9781479915651

In order to obtain resource efficient implementations of control loops on embedded platforms, recently there has been a renewed interest in studying stability and various other quality-of-control (QoC) metrics in the presence of control message drops. Towards this, different methods have been proposed to quantify the impact of message drops on stability and control performance. In this paper we will survey these techniques and clarify the relationship between them. Given a drop pattern that satisfies stability and specified QoC constraints, it is important to check whether an implementation platform satisfies this pattern. In other words, whether the control loop in question may be implemented on this platform. Given an architecture, we will also show how certain notions of expressing drop patterns are easier to verify compared to others. © 2013 IEEE.

关键词： Drops

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An optimisation algorithm for minimising energy dissipation in NoC-based hard real-time embedded systems 13

An optimisation algorithm for minimising energy dissipation ...

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21st International Conference on real-time Networks and systems, RTNS 2013

作者： Mohd Sayuti, M. Norazizi Sham Indrusiak, Leandro Soares Garcia-Ortiz, Alberto Real-Time Systems Group Department of Computer Science University of York United Kingdom Institute of Electrodynamics and Microelectronics University of Bremen Germany

ISBN: (纸本)9781450320580

This paper introduces an evolutionary multi-objective optimisation algorithm to facilitate fast and efficient task allocation of hard real-time embedded systems with Networks-On-Chip (NoC) as the interconnection at the early design stage, where evaluating as many as possible solutions is crucial. Our approach uses analytical fitness functions to provide fast evaluation of large number of solutions;a contrast to simulation-based optimisation technique, whereby it tends to be not only impractical when the design space is very large but also unfeasible as far as hard real-time systems are concerned. The proposed algorithm guarantees the predictability in timing behaviour of the systems whilst minimising energy dissipation whenever tasks are reallocated and their packets are rerouted, which differs from the state-of-the-art approaches. In addition, not only it can explore the allocation of tasks but also the encoding of the data packets. The evidence gathered from case studies shows that the proposed algorithm is able to find schedulable allocation of tasks, preserving it whilst further minimising energy dissipation. © 2013 ACM.

关键词： Energy dissipation

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Compositional Analysis of Switched Ethernet Topologies 13

Compositional Analysis of Switched Ethernet Topologies

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Design, Automation & Test in Europe Conference & Exhibition

作者： Reinhard Schneider Licong Zhang Dip Goswami Alejandro Masrur Samarjit Chakraborty Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781450321532

In this paper we study distributed automotive control applications whose tasks are mapped onto different ECUs communicating via a switched Ethernet network. As traditional automotive communication buses like CAN, FlexRay, LIN and MOST are gradually reaching their performance limits because of the increasing complexity of automotive architectures and applications, Ethernet-based in-vehicle communication systems have attracted a lot of attention in recent times. However, currently there is very little work on systematic timing analysis for Ethernet which is important for its deployment in safety-critical scenarios like in an automotive architecture. In this work, we propose a compositional timing analysis technique that takes various features of switched Ethernet into account like network topology, frame priorities, communication delay, memory requirement on switches, performance, etc. Such an analysis technique is particularly suitable during early design phases of automotive architectures and control software deployment. We demonstrate its use in analyzing mixed-criticality traffic patterns consisting of messages from performance-oriented control loops and timing-sensitive real-time tasks. We further evaluate the tightness of the obtained analytical bounds with an OMNeT++ based network simulation environment, which involves long simulation time and does not provide formal guarantees.

关键词： ECUs CAN MOST

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Evaluation of resource arbitration methods for multi-core real-time systems

Evaluation of resource arbitration methods for multi-core re...

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13th International Workshop on Worst-Case Execution time Analysis, WCET 2013

作者： Kelter, Timon Harde, Tim Marwedel, Peter Falk, Heiko Department of Computer Science TU Dortmund Otto-Hahn-Straße 16 D-44227 Dortmund Germany Institute of Embedded Systems/Real-Time Systems Ulm University James-Franck-Ring D-89081 Ulm Germany

ISBN: (纸本)9783939897545

Multi-core systems have become prevalent in the last years, because of their favorable properties in terms of energy consumption, computing power and design complexity. First attempts have been made to devise WCET analyses for multi-core processors, which have to deal with the problem that the cores may experience interferences during accesses to shared resources. To limit these interferences, the vast amount of previous work is proposing a strict TDMA (time division multiple access) schedule for arbitrating shared resources. Though this type of arbitration yields a high predictability, this advantage is paid for with a poor resource utilization. In this work, we compare different arbitration methods with respect to their predictability and average case performance. We show how known WCET analysis techniques can be extended to work with the presented arbitration strategies and perform an evaluation of the resulting ACETs and WCETs on an extensive set of realworld benchmarks. Results show that there are cases when TDMA is not the best strategy, especially when predictability and performance are equally important. © Timon Kelter, Tim Harde, Peter Marwedel, and Heiko Falk.

关键词： real time systems

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Sufficient real-time analysis for an engine control unit 13

Sufficient real-time analysis for an engine control unit

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21st International Conference on real-time Networks and systems, RTNS 2013

作者： Pollex, Victor Feld, Timo Slomka, Frank Margull, Ulrich Mader, Ralph Wirrer, Gerhard Institute of Embedded Systems/Real-Time Systems Ulm University 89069 Ulm Germany Faculty of Electrical Engineering and Computer Science Ingolstadt University of Applied Sciences Esplanade 10 85049 Ingolstadt Germany Continental AG Siemensstr. 12 93055 Regensburg Germany

ISBN: (纸本)9781450320580

In an engine control unit two types of tasks are executed. On the one hand the time-triggered tasks, which are activated periodically after a specific amount of time has elapsed. On the other hand engine-triggered tasks, which are activated whenever the engine arrives at a specific angular position. In consequence the frequency that an engine-triggered task is activated changes with the speed of the engine. Additionally, the execution time of both time triggered and engine-triggered tasks may also depend on the speed of the engine. The existing methods of real-time analysis are not capable of addressing this behavior adequately. In this paper we present a sufficient real-time analysis for an engine control unit. The analysis considers the changing speed of the engine over time and subsequently the changing frequency of task activations in conjunction with the varying execution times. © 2013 ACM.

关键词： Engines

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