Response time analysis of COTS-Based multicores considering the contention on the shared memory bus

The current industry trend is towards using Commercially available Off-The-Shelf (COTS) based multicores for developing real time embedded systems, as opposed to the usage of custom-made hardware. In typical implementation of such COTS-based multicores, multiple cores access the main memory via a shared bus. This often leads to contention on this shared channel, which results in an increase of the response time of the tasks. Analyzing this increased response time, considering the contention on the shared bus, is challenging on COTS-based systems mainly because bus arbitration protocols are often undocumented and the exact instants at which the shared bus is accessed by tasks are not explicitly controlled by the operating system scheduler; they are instead a result of cache misses. This paper makes three contributions towards analyzing tasks scheduled on COTS-based multicores. Firstly, we describe a method to model the memory access patterns of a task. Secondly, we apply this model to analyze the worst case response time for a set of tasks. Although the required parameters to obtain the request profile can be obtained by static analysis, we provide an alternative method to experimentally obtain them by using performance monitoring counters (PMCs). We also compare our work against an existing approach and show that our approach outperforms it by providing tighter upper-bound on the number of bus requests generated by a task.

Analysis of temperature time-series: embedding dynamics into the MDS method

Global warming and the associated climate changes are being the subject of intensive research due to their major impact on social, economic and health aspects of the human life. Surface temperature time-series characterise Earth as a slow dynamics spatiotemporal system, evidencing long memory behaviour, typical of fractional order systems. Such phenomena are difficult to model and analyse, demanding for alternative approaches. This paper studies the complex correlations between global temperature time-series using the Multidimensional scaling (MDS) approach. MDS provides a graphical representation of the pattern of climatic similarities between regions around the globe. The similarities are quantified through two mathematical indices that correlate the monthly average temperatures observed in meteorological stations, over a given period of time. Furthermore, time dynamics is analysed by performing the MDS analysis over slices sampling the time series. MDS generates maps describing the stations’ locus in the perspective that, if they are perceived to be similar to each other, then they are placed on the map forming clusters. We show that MDS provides an intuitive and useful visual representation of the complex relationships that are present among temperature time-series, which are not perceived on traditional geographic maps. Moreover, MDS avoids sensitivity to the irregular distribution density of the meteorological stations.

On the implementation of real-time slotbased task-splitting scheduling algorithms for multiprocessor systems

In this paper we discuss challenges and design principles of an implementation of slot-based tasksplitting algorithms into the Linux 2.6.34 version. We show that this kernel version is provided with the required features for implementing such scheduling algorithms. We show that the real behavior of the scheduling algorithm is very close to the theoretical. We run and discuss experiments on 4-core and 24-core machines.

Experiences on the implementation of a cooperative embedded system framework

As the complexity of embedded systems increases, multiple services have to compete for the limited resources of a single device. This situation is particularly critical for small embedded devices used in consumer electronics, telecommunication, industrial automation, or automotive systems. In fact, in order to satisfy a set of constraints related to weight, space, and energy consumption, these systems are typically built using microprocessors with lower processing power and limited resources. The CooperatES framework has recently been proposed to tackle these challenges, allowing resource constrained devices to collectively execute services with their neighbours in order to fulfil the complex Quality of Service (QoS) constraints imposed by users and applications. In order to demonstrate the framework's concepts, a prototype is being implemented in the Android platform. This paper discusses key challenges that must be addressed and possible directions to incorporate the desired real-time behaviour in Android.

A traffic differentiation add-on to the IEEE 802.15.4 protocol: implementation and experimental validation over a real-time operating system

The IEEE 802.15.4 is the most widespread used protocol for Wireless Sensor Networks (WSNs) and it is being used as a baseline for several higher layer protocols such as ZigBee, 6LoWPAN or WirelessHART. Its MAC (Medium Access Control) supports both contention-free (CFP, based on the reservation of guaranteed time-slots GTS) and contention based (CAP, ruled by CSMA/CA) access, when operating in beacon-enabled mode. Thus, it enables the differentiation between real-time and best-effort traffic. However, some WSN applications and higher layer protocols may strongly benefit from the possibility of supporting more traffic classes. This happens, for instance, for dense WSNs used in time-sensitive industrial applications. In this context, we propose to differentiate traffic classes within the CAP, enabling lower transmission delays and higher success probability to timecritical messages, such as for event detection, GTS reservation and network management. Building upon a previously proposed methodology (TRADIF), in this paper we outline its implementation and experimental validation over a real-time operating system. Importantly, TRADIF is fully backward compatible with the IEEE 802.15.4 standard, enabling to create different traffic classes just by tuning some MAC parameters.

Open-ZB: an open-source implementation of the IEEE 802.15.4/ZigBee protocol stack on TinyOS

The IEEE 802.15.4/ZigBee protocols are gaining increasing interests in both research and industrial communities as candidate technologies for Wireless Sensor Network (WSN) applications. In this paper, we present an open-source implementation of the IEEE 802.15.4/Zigbee protocol stack under the TinyOS operating system for the MICAz motes. This work has been driven by the need for an open-source implementation of the IEEE 802.15.4/ZigBee protocols, filling a gap between some newly released complex C implementations and black-box implementations from different manufacturers. In addition, we share our experience on the challenging problem that we have faced during the implementation of the protocol stack on the MICAz motes. We strongly believe that this open-source implementation will potentiate research works on the IEEE 802.15.4/Zigbee protocols allowing their demonstration and validation through experimentation.

Zigbee over tinyos: Implementation and experimental challenges

The IEEE 802.15.4/Zigbee protocols are a promising technology for Wireless Sensor Networks (WSNs). This paper shares our experience on the implementation and use of these protocols and related technologies in WSNs. We present problems and challenges we have been facing in implementing an IEEE 802.15.4/ZigBee stack for TinyOS in a two-folded perspective: IEEE 802.15.4/ZigBee protocol standards limitations (ambiguities and open issues) and technological limitations (hardware and software). Concerning the former, we address challenges for building scalable and synchronized multi-cluster ZigBee networks, providing a trade-off between timeliness and energy-efficiency. On the latter issue, we highlight implementation problems in terms of hardware, timer handling and operating system limitations. We also report on our experience from experimental test-beds, namely on physical layer aspects such as coexistence problems between IEEE 802.15.4 and 802.11 radio channels.

Implementation details of the time division beacon scheduling approach for ZigBee cluster-tree networks

This technical report describes the implementation details of the Time Division Beacon Scheduling Approach in IEEE 802.15.4/ZigBee Cluster-Tree Networks. In this technical report we describe the implementation details, focusing on some aspects of the ZigBee Network Layer and the Time Division Beacon Scheduling mechanism. This report demonstrates the feasibility of our approach based on the evaluation of the experimental results. We also present an overview of the ZigBee address and tree-routing scheme.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Implementation of a dominance protocol for wireless medium access

Consider the problem of scheduling sporadic message transmission requests with deadlines. For wired channels, this has been achieved successfully using the CAN bus. For wireless channels, researchers have recently proposed a similar solution; a collision-free medium access control (MAC) protocol that implements static-priority scheduling. Unfortunately no implementation has been reported, yet. We implement and evaluate it to find that the implementation indeed is collision-free and prioritized. This allows us to develop schedulability analysis for the implementation. We measure the response times of messages in our implementation and find that our new response-time analysis indeed offers an upper bound on the response times. This enables a new class of wireless real-time systems with timeliness guarantees for sporadic messages and it opens-up a new research area: schedulability analysis for wireless networks.

An IEEE 802.15.4 protocol implementation (in nesC/TinyOS): reference guide v1.0

This technical report is to provide a reference guide to the implementation of the IEEE 802.15.4 protocol in nesC/TinyOS for the MICAz motes. The implementation is provided as a tool that can be used to implement, test and evaluate the current functionalities defined in the protocol standard as well as to enable the development of functionalities not yet implemented and new add-ons to the protocol.

Implementation of the i-GAME mechanism in IEEE 802.15.4 WPANs

This technical report describes the implementation details of the Implicit GTS Allocation Mechanism (i-GAME), for the IEEE 802.15.4 protocol. The i-GAME was implemented in nesC/TinyOS for the CrossBow MICAz mote, over our own implementation of the IEEE 802.15.4 protocol stack. This document provides the implementation details, including a description of the i-GAME software interfaces.

A straightforward method to obtain the cohesive laws of bonded joints under mode I loading

A simple procedure to measure the cohesive laws of bonded joints under mode I loading using the double cantilever beam test is proposed. The method only requires recording the applied load–displacement data and measuring the crack opening displacement at its tip in the course of the experimental test. The strain energy release rate is obtained by a procedure involving the Timoshenko beam theory, the specimen’s compliance and the crack equivalent concept. Following the proposed approach the influence of the fracture process zone is taken into account which is fundamental for an accurate estimation of the failure process details. The cohesive law is obtained by differentiation of the strain energy release rate as a function of the crack opening displacement. The model was validated numerically considering three representative cohesive laws. Numerical simulations using finite element analysis including cohesive zone modeling were performed. The good agreement between the inputted and resulting laws for all the cases considered validates the model. An experimental confirmation was also performed by comparing the numerical and experimental load–displacement curves. The numerical load–displacement curves were obtained by adjusting typical cohesive laws to the ones measured experimentally following the proposed approach and using finite element analysis including cohesive zone modeling. Once again, good agreement was obtained in the comparisons thus demonstrating the good performance of the proposed methodology.

Improvement of a filters method in a derivative free optimization

Constraints nonlinear optimization problems can be solved using penalty or barrier functions. This strategy, based on solving the problems without constraints obtained from the original problem, have shown to be e ective, particularly when used with direct search methods. An alternative to solve the previous problems is the lters method. The lters method introduced by Fletcher and Ley er in 2002, , has been widely used to solve problems of the type mentioned above. These methods use a strategy di erent from the barrier or penalty functions. The previous functions de ne a new one that combine the objective function and the constraints, while the lters method treat optimization problems as a bi-objective problems that minimize the objective function and a function that aggregates the constraints. Motivated by the work of Audet and Dennis in 2004, using lters method with derivative-free algorithms, the authors developed works where other direct search meth- ods were used, combining their potential with the lters method. More recently. In a new variant of these methods was presented, where it some alternative aggregation restrictions for the construction of lters were proposed. This paper presents a variant of the lters method, more robust than the previous ones, that has been implemented with a safeguard procedure where values of the function and constraints are interlinked and not treated completely independently.

Filters method in direct search optimization, new measures to admissibility

Constrained nonlinear optimization problems are usually solved using penalty or barrier methods combined with unconstrained optimization methods. Another alternative used to solve constrained nonlinear optimization problems is the lters method. Filters method, introduced by Fletcher and Ley er in 2002, have been widely used in several areas of constrained nonlinear optimization. These methods treat optimization problem as bi-objective attempts to minimize the objective function and a continuous function that aggregates the constraint violation functions. Audet and Dennis have presented the rst lters method for derivative-free nonlinear programming, based on pattern search methods. Motivated by this work we have de- veloped a new direct search method, based on simplex methods, for general constrained optimization, that combines the features of the simplex method and lters method. This work presents a new variant of these methods which combines the lters method with other direct search methods and are proposed some alternatives to aggregate the constraint violation functions.