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Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
The automobile Real-Time Operating System (RTOS) is hard to design and implement due to its real time features and increasing complexity. Some automobile RTOS standards are released aiming at unifying the software architecture of vehicle…
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…
Non-uniform performance and power consumption across the processing elements (PEs) of heterogeneous SoCs increase the computation complexity of the task scheduling problem compared to homogeneous architectures. Latency of a software-based…
This dissertation explores the area of real-time IP networking for embedded devices, especially those with limited computational resources. With the increasing convergence of information and operational technologies in various industries,…
As robotics systems become more distributed, the communications between different robot modules play a key role for the reliability of the overall robot control. In this paper, we present a study of the Linux communication stack meant for…
Embedded Linux processors are increasingly used for real-time computing tasks such as robotics and Internet of Things (IoT). These applications require robust and reproducible behavior from the host OS, commonly achieved through immutable…
Distributed real-time and embedded (DRE) systems executing mixed criticality task sets are increasingly being deployed in mobile and embedded cloud computing platforms, including space applications. These DRE systems must not only operate…
The growing complexity of real-time embedded systems demands strong isolation of software components into separate protection domains to reduce attack surfaces and limit fault propagation. However, application-supplied device interrupt…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
Modern microarchitectures are some of the world's most complex man-made systems. As a consequence, it is increasingly difficult to predict, explain, let alone optimize the performance of software running on such microarchitectures. As a…
Dynamic analysis based on the full-system emulator QEMU is widely used for various purposes. However, it is challenging to run firmware images of embedded devices in QEMU, especially the process to boot the Linux kernel (we call this…
In real-time embedded systems (RTS), failures due to security breaches can cause serious damage to the system, the environment and/or injury to humans. Therefore, it is very important to understand the potential threats and attacks against…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Modern embedded computing platforms consist of a high amount of heterogeneous resources, which allows executing multiple applications on a single device. The number of running application on the system varies with time and so does the…
In wireless sensor networks (WSNs), implementing a high-precision time synchronization scheme on resource-constrained sensor nodes is a major challenge. Our investigation of the practical implementation on a real testbed of the…
Today's monolithic kernels often implement a small, fixed set of policies such as disk I/O scheduling policies, while exposing many parameters to let users select a policy or adjust the specific setting of the policy. Ideally, the…
Accelerator-based heterogeneous architectures, such as CPU-GPU, CPU-TPU, and CPU-FPGA systems, are widely adopted to support the popular artificial intelligence (AI) algorithms that demand intensive computation. When deployed in real-time…
Due to the increasing complexity seen in both workloads and hardware resources in state-of-the-art embedded systems, developing efficient real-time schedulers and the corresponding schedulability tests becomes rather challenging. Although…