A framework for the development of parallel and distributed real-time embedded systems

Embedded real-time applications increasingly present high computation requirements, which need to be completed within specific deadlines, but that present highly variable patterns, depending on the set of data available 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 report 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 technical report also devises an integrated timing model, which enables the structured reasoning on the timing behaviour of these hybrid architectures.

EMMON - EMbedded MONitoring

Despite the steady increase in experimental deployments, most of research work on WSNs has focused only on communication protocols and algorithms, with a clear lack of effective, feasible and usable system architectures, integrated in a modular platform able to address both functional and non–functional requirements. In this paper, we outline EMMON [1], a full WSN-based system architecture for large–scale, dense and real–time embedded monitoring [3] applications. EMMON provides a hierarchical communication architecture together with integrated middleware and command and control software. Then, EM-Set, the EMMON engineering toolset will be presented. EM-Set includes a network deployment planning, worst–case analysis and dimensioning, protocol simulation and automatic remote programming and hardware testing tools. This toolset was crucial for the development of EMMON which was designed to use standard commercially available technologies, while maintaining as much flexibility as possible to meet specific applications requirements. Finally, the EMMON architecture has been validated through extensive simulation and experimental evaluation, including a 300+ nodes testbed.

Software transactional memory as a building block for parallel embedded realtime systems

The recent trends of chip architectures with higher number of heterogeneous cores, and non-uniform memory/non-coherent caches, brings renewed attention to the use of Software Transactional Memory (STM) as a fundamental building block for developing parallel applications. Nevertheless, although STM promises to ease concurrent and parallel software development, it relies on the possibility of aborting conflicting transactions to maintain data consistency, which impacts on the responsiveness and timing guarantees required by embedded real-time systems. In these systems, contention delays must be (efficiently) limited so that the response times of tasks executing transactions are upper-bounded and task sets can be feasibly scheduled. In this paper we assess the use of STM in the development of embedded real-time software, defending that the amount of contention can be reduced if read-only transactions access recent consistent data snapshots, progressing in a wait-free manner. We show how the required number of versions of a shared object can be calculated for a set of tasks. We also outline an algorithm to manage conflicts between update transactions that prevents starvation.

Poster: EMMON: a WSN system architecture and toolset for large-scale and dense real-time embedded monitoring

Wireless sensor networks (WSNs) have attracted growing interest in the last decade as an infrastructure to support a diversity of ubiquitous computing and cyber-physical systems. However, most research work has focused on protocols or on specific applications. As a result, there remains a clear lack of effective and usable WSN system architectures that address both functional and non-functional requirements in an integrated fashion. This poster outlines the EMMON system architecture for large-scale, dense, real-time embedded monitoring. It provides a hierarchical communication architecture together with integrated middleware and command and control software. It has been designed to maintain as much as flexibility as possible while meeting specific applications requirements. EMMON has been validated through extensive analytical, simulation and experimental evaluations, including through a 300+ nodes test-bed the largest single-site WSN test-bed in Europe.

EMMON: a WSN system architecture for large scale and dense real-time embedded monitoring

Wireless sensor networks (WSNs) have attracted growing interest in the last decade as an infrastructure to support a diversity of ubiquitous computing and cyber-physical systems. However, most research work has focused on protocols or on specific applications. As a result, there remains a clear lack of effective, feasible and usable system architectures that address both functional and non-functional requirements in an integrated fashion. In this paper, we outline the EMMON system architecture for large-scale, dense, real-time embedded monitoring. EMMON provides a hierarchical communication architecture together with integrated middleware and command and control software. It has been designed to use standard commercially-available technologies, while maintaining as much flexibility as possible to meet specific applications requirements. The EMMON architecture has been validated through extensive simulation and experimental evaluation, including a 300+ node test-bed, which is, to the best of our knowledge, the largest single-site WSN test-bed in Europe to date.

Towards a flexible and dynamic replication control for distributed real-time embedded systems with QoS interdependencies

Replication is a proven concept for increasing the availability of distributed systems. However, actively replicating every software component in distributed embedded systems may not be a feasible approach. Not only the available resources are often limited, but also the imposed overhead could significantly degrade the system's performance. The paper proposes heuristics to dynamically determine which components to replicate based on their significance to the system as a whole, its consequent number of passive replicas, and where to place those replicas in the network. The results show that the proposed heuristics achieve a reasonably higher system's availability than static offline decisions when lower replication ratios are imposed due to resource or cost limitations. The paper introduces a novel approach to coordinate the activation of passive replicas in interdependent distributed environments. The proposed distributed coordination model reduces the complexity of the needed interactions among nodes and is faster to converge to a globally acceptable solution than a traditional centralised approach.

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.

Using a prioritized MAC protocol to execute the database operation join in networked embedded computer systems

Database query languages on relations (for example SQL) make it possible to join two relations. This operation is very common in desktop/server database systems but unfortunately query processing systems in networked embedded computer systems currently do not support this operation; specifically, the query processing systems TAG, TinyDB, Cougar do not support this. We show how a prioritized medium access control (MAC) protocol can be used to efficiently execute the database operation join for networked embedded computer systems where all computer nodes are in a single broadcast domain.

Evaluating Android OS for embedded real-time systems

Since its official public release, Android has captured the interest from companies, developers and the general audience. From that time up to now, this software platform has been constantly improved either in terms of features or supported hardware and, at the same time, extended to new types of devices different from the originally intended mobile ones. However, there is a feature that has not been explored yet - its real-time capabilities. This paper intends to explore this gap and provide a basis for discussion on the suitability of Android in order to be used in Open Real-Time environments. By analysing the software platform, with the main focus on the virtual machine and its underlying operating system environments, we are able to point out its current limitations and, therefore, provide a hint on different perspectives of directions in order to make Android suitable for these environments. It is our position that Android may provide a suitable architecture for real-time embedded systems, but the real-time community should address its limitations in a joint effort at all of the platform layers.

Flexible and dynamic replication control for interdependent distributed real-time embedded systems

Replication is a proven concept for increasing the availability of distributed systems. However, actively replicating every software component in distributed embedded systems may not be a feasible approach. Not only the available resources are often limited, but also the imposed overhead could significantly degrade the system’s performance. This paper proposes heuristics to dynamically determine which components to replicate based on their significance to the system as a whole, its consequent number of passive replicas, and where to place those replicas in the network. The activation of passive replicas is coordinated through a fast convergence protocol that reduces the complexity of the needed interactions among nodes until a new collective global service solution is determined.

Professions and inter-disciplinary teamwork in socially embedded bureaucracies: Synthesis and hypotheses on the impact of informal and formal organization

In order to maximize their productivity, inter-disciplinary multi-occupation teams of professionals need to maximize inter-occupational cooperation in team decision making. Cooperation, however, is challenged by status anxiety over organizational careers and identity politics among team members who differ by ethnicity-race, gender, religion, nativity, citizenship status, etc. The purpose of this paper is to develop hypotheses about how informal and formal features of bureaucracy influence the level of inter-occupation cooperation achieved by socially diverse, multi-occupation work teams of professionals in bureaucratic work organizations. The 18 hypotheses, which are developed with the heuristic empirical case of National Science Foundation-sponsored university school partnerships in math and science curriculum innovation in the United States, culminate in the argument that cooperation can be realized as a synthesis of tensions between informal and formal features of bureaucracy in the form of participatory, high performance work systems.

Dynamic QoS adaptation of inter- dependent task sets in cooperative embedded systems

Due to the growing complexity and dynamism of many embedded application domains (including consumer electronics, robotics, automotive and telecommunications), it is increasingly difficult to react to load variations and adapt the system's performance in a controlled fashion within an useful and bounded time. This is particularly noticeable when intending to benefit from the full potential of an open distributed cooperating environment, where service characteristics are not known beforehand and tasks may exhibit unrestricted QoS inter-dependencies. This paper proposes a novel anytime adaptive QoS control policy in which the online search for the best set of QoS levels is combined with each user's personal preferences on their services' adaptation behaviour. Extensive simulations demonstrate that the proposed anytime algorithms are able to quickly find a good initial solution and effectively optimise the rate at which the quality of the current solution improves as the algorithms are given more time to run, with a minimum overhead when compared against their traditional versions.

Building adaptable, QoS-aware dependable embedded systems

Most of today’s embedded systems are required to work in dynamic environments, where the characteristics of the computational load cannot always be predicted in advance. Furthermore, resource needs are usually data dependent and vary over time. Resource constrained devices may need to cooperate with neighbour nodes in order to fulfil those requirements and handle stringent non-functional constraints. This paper describes a framework that facilitates the distribution of resource intensive services across a community of nodes, forming temporary coalitions for a cooperative QoSaware execution. The increasing need to tailor provided service to each application’s specific needs determines the dynamic selection of peers to form such a coalition. The system is able to react to load variations, degrading its performance in a controlled fashion if needed. Isolation between different services is achieved by guaranteeing a minimal service quality to accepted services and by an efficient overload control that considers the challenges and opportunities of dynamic distributed embedded systems.

Strap repair optimization by using embedded patches

Adhesively-bonded techniques offer an attractive option for repair of aluminium structures, and currently there are three widely used configurations, i.e., single-strap (SS), double-strap (DS) and scarf repairs. SS and DS repairs are straightforward to execute but stresses in the adhesive layer peak at the ends of the overlap. DS repairs additionally require both sides of the damaged structures to be reachable for repair, which is often not possible. In these repair configurations, some limitations emerge such as the weight, aerodynamic performance and aesthetics. The scarf repair is more complex to fabricate but stresses are more uniform along the adhesive bondline. Few studies of SS and DS repairs with embedded patches, such that these are completely flush with the adherends, are available in the literature. Furthermore, no data is available about the effects of geometrical and material parameters (e.g. the Young’s modulus of adhesive, E) on the mechanical behaviour optimization of embedded repairs. For this purpose, in this work standard SS and DD repairs, and also with embedded patches in the adherends, were tested under tension to allow the geometry optimization, by varying the overlap length (LO), thus allowing the maximization of the repairs strength. The influence of the patch embedding technique, showing notorious advantages such as aerodynamic or aesthetics, was compared in strength with standard strap repairs, for the viability analysis of its implementation. As a result of this work, some conclusions were drawn for the design optimization of bonded repairs on aluminium structures.

An embedded 1149.4 extension to support mixed-signal debugging

Debugging electronic circuits is traditionally done with bench equipment directly connected to the circuit under debug. In the digital domain, the difficulties associated with the direct physical access to circuit nodes led to the inclusion of resources providing support to that activity, first at the printed circuit level, and then at the integrated circuit level. The experience acquired with those solutions led to the emergence of dedicated infrastructures for debugging cores at the system-on-chip level. However, all these developments had a small impact in the analog and mixed-signal domain, where debugging still depends, to a large extent, on direct physical access to circuit nodes. As a consequence, when analog and mixed-signal circuits are integrated as cores inside a system-on-chip, the difficulties associated with debugging increase, which cause the time-to-market and the prototype verification costs to also increase. The present work considers the IEEE1149.4 infrastructure as a means to support the debugging of mixed-signal circuits, namely to access the circuit nodes and also an embedded debug mechanism named mixed-signal condition detector, necessary for watch-/breakpoints and real-time analysis operations. One of the main advantages associated with the proposed solution is the seamless migration to the system-on-chip level, as the access is done through electronic means, thus easing debugging operations at different hierarchical levels.