Fine-grained Scheduling of Real-Time Recurrent DAG Tasks upon Multiprocessor Platforms

With the strong demand for computing capacity in industrial applications and the rapid development of the hardware industry in recent years, multiprocessor platforms have been widely used in real-time embedded systems. The quest for performance has led to existing multiprocessor platforms often featuring complex interconnected hardware...

A Priority-Based Real-Time Scheduling Framework for ROS2

Since its introduction in 2007, ROS (Robot Operating System) has become one of the most popular framework for developing automated solutions in a variety of applications, ranging from automotive to manufacturing. Meeting safety-critical timing requirements is a crucial element in many fields where ROS is present. The ROS community has introduced...

Partial-Order Reduction in Reachability-based Response-Time Analyses

The temporal correctness of safety-critical systems is typically guaranteed via a response-time analysis, whose goal is to determine the worst-case response time (WCRT) of a set of input jobs when they are scheduled by a given scheduling policy on a computing resource. <br/>However, response-time analysis is a hard problem to solve, with most...

Improving the Predictability of Event Chains in ROS 2

ROS 2 is a well-known software framework for the development of robotic applications. The open-source project enjoys active interest and participation from both academia and industry in applications spanning from autonomous vehicles to industrial robotics. ROS 2's success is underpinned by its disposition for collaborative development as well as...

Improving Ultrawide Band Ranging Using Two Antennas

Ultrawideband technology can be used to measure the distance between two device equipped with ultrawideband transceivers. Multiple ultrawideband devices known as anchors can localize a device that supports ultrawideband communication after each anchor measures the distance between itself and the device. The anchor and the tag can measure the...

Parametric measurement-based WCET estimation for multiprocessor platforms

Real-time systems are bound to timing constraints. These constraints are meant to ensure that the application exhibits predictable behavior by having bounded response times. The worst case execution time (WCET) is an important property of programs, which must be bounded to allow for a response time analysis of tasks. While estimation of the WCET...

Designing Safe 2.5D Tangible Shape Displays

2.5D shape display is a recent idea in the market that emerged as a platform of interaction between a computer and human. 2.5D shape display is essentially a grid-like matrix consisting of actuators and pins moving up and down in vertical motion to create pseudo-3D images. Focused as a visual display in some applications and as a medium of input...

Schedulability analysis of limited-preemptive moldable gang tasks

Gang scheduling, has long been adopted by the high-performance computing community as a way to reduce the synchronization overhead between related threads. Gang schedulling allows for several threads to execute in lock steps without suffering from long busy-wait periods or be penalised by large context-switch overheads. If several threads use...

Response-Time Analysis for Non-Preemptive Global Scheduling with Spin Locks

With the proliferation of multicore platforms, the embedded systems world has shifted more and more towards multiprocessing to make use of high computing power and increased cyber functionalities. Although today multiprocessor platforms have been extensively adopted by real-time embedded systems, there exists a need for tools and techniques that...

Deriving Timing Properties from System Traces using Data-driven Techniques

With the growth in the complexity of real-time embedded systems, there is an increasing need for tools and techniques to understand and compare the observed runtime behavior of a system with the expected one. Since many realtime applications require periodic interactions with the environment, one of the fundamental problems in guaranteeing...

Low-Overhead Non-Preemptive Scheduling of Real-Time Tasks upon Multiprocessor Platforms

While multiprocessor platforms have been widely adopted by the embedded systems industry in the past couple of years, there are still fundamental challenges about their timing predictability for applications with real-time timing constraints. The common-off-the-shelf (COTS) multiprocessor platforms typically use complex hardware components,...