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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…
Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by…
In this paper we study the partitioning approach for multiprocessor real-time scheduling. This approach seems to be the easiest since, once the partitioning of the task set has been done, the problem reduces to well understood uniprocessor…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
In the case of compute-intensive machine learning, efficient operating system scheduling is crucial for performance and energy efficiency. This paper conducts a comparative study over FIFO(First-In-First-Out) and RR(Round-Robin) scheduling…
The deterministic (timing) behavior of real-time systems (RTS) can be used by adversaries - say, to launch side channel attacks or even destabilize the system by denying access to critical resources. We propose a protocol (named REORDER) to…
This work presents a practical benchmarking framework for optimizing artificial intelligence (AI) models on ARM Cortex processors (M0+, M4, M7), focusing on energy efficiency, accuracy, and resource utilization in embedded systems. Through…
In the following, we present example illustrative and experimental results comparing fair schedulers allocating resources from multiple servers to distributed application frameworks. Resources are allocated so that at least one resource is…
The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's…
Model checking real-time systems is complex, and requires a careful trade-off between including enough detail to be useful and not too much detail to avoid state explosion. This work exploits variability of the formal model being analysed…
Since some years ago, use of Feedback Control Scheduling Algorithm (FCSA) in the control scheduling co-design of multiprocessor embedded system has increased. FCSA provides Quality of Service (QoS) in terms of overall system performance and…
While vehicles have primarily been controlled through mechanical means in years past, an increasing number of embedded control systems are being installed and used, keeping pace with advances in electronic control technology and…
Real-time embedded systems that combine processes of various criticalities (i.e. mixed-criticality real-time systems) represent an emerging research that faces many issues. This paper describes a new ASIC design of a coprocessor that…
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 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…
Multi-socket multi-core servers are used for solving some of the important problems in computing. Remote DRAM accesses can impact performance of certain applications running on such servers. This paper presents a new near linear operating…
In this article we present Mutable Locks, a synchronization construct with the same execution semantic of traditional locks (such as spin locks or sleep locks), but with a self-tuned optimized trade off between responsiveness---in the…
The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…
Security is the most important part in data communication system, where more randomization in secret keys increases the security as well as complexity of the cryptography algorithms. As a result in recent dates these algorithms are…
Large swaths of low-level system software building blocks originally implemented in C/C++ are currently being swapped for equivalent rewrites in Rust, a relatively more secure and dependable programming language. So far, however, no…