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As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
Memory bandwidth regulation and cache partitioning are widely used techniques for achieving predictable timing in real-time computing systems. Combined with partitioned scheduling, these methods require careful co-allocation of tasks and…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Industrial Control Systems (ICS) are often built from geographically distributed components and often use programmable logic controllers for localized processes. Since verification of such systems is challenging because of both time…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
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 paper presents, implements, and evaluates a power-regulation technique for multicore processors, based on an integral controller with adjustable gain. The gain is designed for wide stability margins, and computed in real time as part…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
The management of timing constraints in a real-time operating system (RTOS) is usually realized through a global tick counter. This counter acts as the foundational time unit for all tasks in the systems. In order to establish a connection…
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…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Securing the near-real-time (near-RT) control operations in Open Radio Access Networks (Open RAN) is increasingly critical, yet remains insufficiently addressed, as new runtime threats target the control loop while the system is…
In this paper, we propose an optimization framework for rate splitting (RS) techniques in multiple-input multiple-output (MIMO) reconfigurable intelligent surface (RIS)-assisted systems, possibly with I/Q imbalance (IQI). This framework can…
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…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
The march towards 6G is accelerating and future wireless network architectures require enhanced performance along with significant coverage especially, to combat impairments on account of the wireless channel. Reconfigurable intelligent…
Embedded systems are pervasively used in many fields nowadays. In mixed-criticality environments (automotive, industry 4.0, drones, etc.) they need to run real-time applications with certain time and safety constraints alongside a rich…
The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufacturing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This…
Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for…