A vision of cyber-physical internet

When the Internet was born, the purpose was to interconnect computers to share digital data at large-scale. On the other hand, when embedded systems were born, the objective was to control system components under real-time constraints through sensing devices, typically at small to medium scales. With the great evolution of the Information and Communication Technology (ICT), the tendency is to enable ubiquitous and pervasive computing to control everything (physical processes and physical objects) anytime and at a large-scale. This new vision gave recently rise to the paradigm of Cyber-Physical Systems (CPS). In this position paper, we provide a realistic vision to the concept of the Cyber-Physical Internet (CPI), discuss its design requirements and present the limitations of the current networking abstractions to fulfill these requirements. We also debate whether it is more productive to adopt a system integration approach or a radical design approach for building large-scale CPS. Finally, we present a sample of realtime challenges that must be considered in the design of the Cyber-Physical Internet.

Assigning real-time tasks on heterogeneous multiprocessors with two types of processors

Consider the problem of scheduling a set of implicitdeadline sporadic tasks on a heterogeneous multiprocessor so as to meet all deadlines. Tasks cannot migrate and the platform is restricted in that each processor is either of type-1 or type-2 (with each task characterized by a different speed of execution upon each type of processor). We present an algorithm for this problem with a timecomplexity of O(n·m), where n is the number of tasks and m is the number of processors. It offers the guarantee that if a task set can be scheduled by any non-migrative algorithm to meet deadlines then our algorithm meets deadlines as well if given processors twice as fast. Although this result is proven for only a restricted heterogeneous multiprocessor, we consider it significant for being the first realtime scheduling algorithm to use a low-complexity binpacking approach to schedule tasks on a heterogeneous multiprocessor with provably good performance.

Simulation relations, interface complexity, and resource optimality for real-time hierachical systems

Compositional schedulability analysis of hierarchical realtime systems is a well-studied problem. Various techniques have been developed to abstract resource requirements of components in such systems, and schedulability has been addressed using these abstract representations (also called component interfaces). These approaches for compositional analysis incur resource overheads when they abstract components into interfaces. In this talk, we define notions of resource schedulability and optimality for component interfaces, and compare various approaches.

Implementing multicore real-time scheduling algorithms based on task splitting using ada 2012

Multiprocessors, particularly in the form of multicores, are becoming standard building blocks for executing reliable software. But their use for applications with hard real-time requirements is non-trivial. Well-known realtime scheduling algorithms in the uniprocessor context (Rate-Monotonic [1] or Earliest-Deadline-First [1]) do not perform well on multiprocessors. For this reason the scientific community in the area of real-time systems has produced new algorithms specifically for multiprocessors. In the meanwhile, a proposal [2] exists for extending the Ada language with new basic constructs which can be used for implementing new algorithms for real-time scheduling; the family of task splitting algorithms is one of them which was emphasized in the proposal [2]. Consequently, assessing whether existing task splitting multiprocessor scheduling algorithms can be implemented with these constructs is paramount. In this paper we present a list of state-of-art task-splitting multiprocessor scheduling algorithms and, for each of them, we present detailed Ada code that uses the new constructs.

Handling shared resources and precedence constraints in open systems

There is an increasing demand for highly dynamic realtime systems where several independently developed applications with different timing requirements can coexist. This paper proposes a protocol to integrate shared resources and precedence constraints among tasks in such systems assuming no precise information on critical sections and computation times is available. The concept of bandwidth inheritance is combined with a capacity sharing and stealing mechanism to efficiently exchange bandwidth among needed tasks, minimising the cost of blocking.

A framework for self-healing radiation-tolerant implementations on reconfigurable FPGAs

To increase the amount of logic available in SRAM-based FPGAs manufacturers are using nanometric technologies to boost logic density and reduce prices. However, nanometric scales are highly vulnerable to radiation-induced faults that affect values stored in memory cells. Since the functional definition of FPGAs relies on memory cells, they become highly prone to this type of faults. Fault tolerant implementations, based on triple modular redundancy (TMR) infrastructures, help to keep the correct operation of the circuit. However, TMR is not sufficient to guarantee the safe operation of a circuit. Other issues like the effects of multi-bit upsets (MBU) or fault accumulation, have also to be addressed. Furthermore, in case of a fault occurrence the correct operation of the affected module must be restored and the current state of the circuit coherently re-established. A solution that enables the autonomous correct restoration of the functional definition of the affected module, avoiding fault accumulation, re-establishing the correct circuit state in realtime, while keeping the normal operation of the circuit, is presented in this paper.

Distributed energy resources scheduling considering real-time resources forecast

Energy resource scheduling is becoming increasingly important, such as the use of more distributed generators and electric vehicles connected to the distribution network. This paper proposes a methodology to be used by Virtual Power Players (VPPs), regarding the energy resource scheduling in smart grids and considering day-ahead, hour-ahead and realtime time horizons. This method considers that energy resources are managed by a VPP which establishes contracts with their owners. The full AC power flow calculation included in the model takes into account network constraints. In this paper, distribution function errors are used to simulate variations between time horizons, and to measure the performance of the proposed methodology. A 33-bus distribution network with large number of distributed resources is used.

Real-time Energy Resource Scheduling considering a Real Portuguese Scenario

The development in power systems and the introduction of decentralized generation and Electric Vehicles (EVs), both connected to distribution networks, represents a major challenge in the planning and operation issues. This new paradigm requires a new energy resources management approach which considers not only the generation, but also the management of loads through demand response programs, energy storage units, EVs and other players in a liberalized electricity markets environment. This paper proposes a methodology to be used by Virtual Power Players (VPPs), concerning the energy resource scheduling in smart grids, considering day-ahead, hour-ahead and real-time scheduling. The case study considers a 33-bus distribution network with high penetration of distributed energy resources. The wind generation profile is based on a real Portuguese wind farm. Four scenarios are presented taking into account 0, 1, 2 and 5 periods (hours or minutes) ahead of the scheduling period in the hour-ahead and realtime scheduling.

Sistema de mapeamento e localização simultânea para inspecção subaquática

A sequente dissertação resulta do desenvolvimento de um sistema de navegação subaquático para um Remotely Operated Vehicle (ROV). A abordagem proposta consiste de um algoritmo em tempo real baseado no método de Mapeamento e Localização Simultâneo (SLAM) a partir de marcadores em ambientes marinhos não estruturados. SLAM introduz dois principais desafios: (i) reconhecimento dos marcadores provenientes dos dados raw do sensor, (ii) associação de dados. Na detecção dos marcadores foram aplicadas técnicas de visão artificial baseadas na extracção de pontos e linhas. Para testar o uso de features no visual SLAM em tempo real nas operações de inspecção subaquáticas foi desenvolvida uma plataforma modicada do RT-SLAM que integra a abordagem EKF SLAM. A plataforma é integrada em ROS framework e permite estimar a trajetória 3D em tempo real do ROV VideoRay Pro 3E até 30 fps. O sistema de navegação subaquático foi caracterizado num tanque instalado no Laboratório de Sistemas Autónomos através de um sistema stereo visual de ground truth. Os resultados obtidos permitem validar o sistema de navegação proposto para veículos subaquáticos. A trajetória adquirida pelo VideoRay em ambiente controlado é validada pelo sistema de ground truth. Dados para ambientes não estruturados, como um gasoduto, foram adquiridos e obtida respectiva trajetória realizada pelo robô. Os dados apresentados comprovam uma boa precisão e exatidão para a estimativa da posição.

Perfomance do transverso do abdómen : recurso à ecografia como informação de retorno extrínseca

RESUMO: Desenho do estudo: Estudo quantitativo, experimental prospectivo de factor único, desenho pré-teste, pós-teste. Objectivos: Determinar a efectividade da ecografia em tempo real, como Informação de Retorno Extrínseca Visual Ecográfica (IRE-VE) na performance do transverso do abdómen (TrA), em sujeitos saudáveis; analisar eventuais diferenças entre a IRE-VE e a Informação de Retorno Extrínseca Verbal Clínica (IRE-VC); medir a performance da musculatura abdominal, através das diferenças na espessura dos músculos TrA e oblíquo interno (OI) e deslizamento do TrA, em repouso e em contracção. Enquadramento: A maioria dos indivíduos não tem conhecimentos nem consciência do contributo de uma boa performance do TrA para a estabilidade da coluna lombar. Vários estudos recentes se têm dedicado a este assunto, tendo sido mostrado o importante contributo da ecografia como Informação de Retorno Extrínseca (IRE). Uma vez que o TrA e o OI contribuem para a estabilidade lombo pélvica, e que a aprendizagem do seu controlo motor é essencial para a recuperação da função, torna-se relevante clarificar o contributo da informação de retorno na primeira fase da aprendizagem da performance desses músculos, bem como encontrar as melhores estratégias para a sua realização. A ecografia foi o instrumento escolhido para servir esse objectivo. Métodos: Participaram no estudo 75 sujeitos, sem queixas lombares, com idades compreendidas entre os 18 e os 38 anos com um valor médio de 21,9 anos (±4,03), divididos aleatoriamente em três grupos com uma tarefa comum: a “Manobra do Transverso”, em que um grupo não recebeu IRE (GC), outro recebeu IRE verbal clínica e palpatória (GIRE-VC) e ooutro recebeu IRE visual ecográfica (GIRE-VE). Para efeitos de análise da contracção da musculatura abdominal, foram estudadas a espessura dos músculos TrA e OI e o deslizamento do TrA, visualizados em imagens ecográficas em tempo real, e congeladas para medição em diferido. Estes procedimentos foram apurados num estudo piloto de fidedignidade das medições em causa. Quanto à abordagem estatística das variáveis de performance muscular foi realizada uma análise da variância simples paramétrica para amostras independentes e um teste para a diferença de médias para amostras emparelhadas. Resultados: Observamos que no GC, a ausência de IRE cursou com uma performance idêntica nos dois momentos de avaliação e que nos dois grupos com IRE, das variáveis de performance, é significativamente diferente a contracção do TrA, para uma diferença de 1,95 mm no GIRE-VE (p=0,000) e de 0,84 mm no GIRE-VC (p=0,000). Ao comparar os grupos entre si houve diferenças no limiar da significância (p=0,056) para uma melhor contracção do TrA no GIRE-VE. As outras variáveis, contracção do OI e deslizamento do TrA, não revelaram efeito relacionado com a IRE em nenhum dos grupos. Conclusão: Dos resultados obtidos, podemos concluir que a IRE-VE, quando usada isoladamente, na Manobra do Transverso provoca um maior aumento na espessura do TrA, quando comparada com a IRE-VC . O uso da ecografia mostrou ser efectivo na facilitação da performance da Manobra do Transverso em sujeitos saudáveis.---------------------ABSTRACT: Study Design: Single Factor Experimental Design: Pre-Test Post-test Control Group Design. Objectives: To measure the contribution of different types of biofeedack on Transversus Abdominis (TrA) and Internal Oblique (IO) performance through changes in thickness and lateral slide of TrA anterior fascia during abdominal hollowing exercise (AHE). Background: Increasingly clinicians are using real-time ultrasound imaging as a form of supplementing feedback when teaching trunk stabilization exercises to patients; however, there has been no evidence of its effectiveness when used alone. Material and Methods: Seventy-five healthy subjects were divided randomly into 3 groups that received: group 1, no feedback; group 2, verbal and palpatory feedback, and group 3, realtime ultrasound feedback. The TrA and IO performance of each subject was twice assessed (before and after receiving feedback) when performing the AHE in a supine hook-lying position. Analysis of variance and T-test were used for the independent and paired samples, respectively, to determine significant changes in the performance of TrA and IO, based on intra and inter group analysis. Results: Group 1 had no differences between moments; group 2 had significant differences concerning TrA thickness (p=0,000) to a 0,84 mm thickness difference; group 3 had significant differences concerning TrA thickness (p=0,000) to a 1,94 mm difference; The ability to perform the AHE differed only among group 3 and group 1 (p=0.056), and only for changes in thickness of TrA muscle. No differences among groups were found neither for the lateral slide of TrA anterior fascia, nor for the internal oblique thickness. Conclusion: From the results of this study we conclude that real-time ultrasound feedback, when used alone during an AHE, can have a larger increase in TrA thickness when compared to verbal and palpatory feedback. The use of real time ultrasound showed to be effective as a feedback tool to facilitate the performance of the AHE in a supine hook-lying position in healthy subjects.

Distributed Sensing of Fluid Dynamic Phenomena with the XDense Sensor Grid Network

IEEE International Conference on Cyber Physical Systems, Networks and Applications (CPSNA'15), Hong Kong, China.

XDense: A Dense Grid Sensor Network for Distributed Feature Extraction

XXXIII Simpósio Brasileiro de Redes de Computadores e Sistemas Distribuídos (SBRC 2015). 15 to 19, May, 2015, III Workshop de Comunicação em Sistemas Embarcados Críticos. Vitória, Brasil.

Generalized Extraction of Real-Time Parameters for Homogeneous Synchronous Dataflow Graphs

23rd Euromicro International Conference on Parallel, Distributed, and Network-Based Processing (PDP 2015). 4 to 6, Mar, 2015. Turku, Finland.

An Exact Schedulability Test for Global FP Using State Space Pruning

Presented at 23rd International Conference on Real-Time Networks and Systems (RTNS 2015). 4 to 6, Nov, 2015, Main Track. Lille, France.

Real-Time Support in the Proposal for Fine-Grained Parallelism in Ada

Presented at Work in Progress Session, IEEE Real-Time Systems Symposium (RTSS 2015). 1 to 3, Dec, 2015. San Antonio, U.S.A..