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Clock asynchronism is a critical issue in integrating radar sensing into communication networks. It can cause ranging ambiguity and prevent coherent processing of dis-continuous measurements in integration with asynchronous transceivers.…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Modern multicore system-on-chips (SoCs) share off-chip DRAM across cores, where bank-level interference can significantly degrade performance and threaten real-time guarantees. While prior work has focused on per-core bandwidth regulation,…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
Nowadays, the use of embedded operating systems in different embedded projects is subject to a tremendous growth. Embedded Linux is becoming one of those most popular EOSs due to its modularity, efficiency, reliability, and cost. One way to…
The advent of Reconfigurable Intelligent Surfaces (RISs) in wireless communication networks unlocks the way to support high frequency radio access (e.g. in millimeter wave) while overcoming their sensitivity to the presence of deep fading…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
Recent progress in robotics has underscored the demand for real-time control in applications such as manufacturing, healthcare, and autonomous systems, where the timely delivery of mission-critical commands under heterogeneous robotic…
ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…
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,…
Recent embedded systems are designed with high-performance System-on-Chips (SoCs) to satisfy the computational needs of complex applications widely used in real life, such as airplane controllers, autonomous driving automobiles, medical…
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning…
The limited coexistence capabilities of current Internet-of-things (IoT) wireless standards produce inefficient spectrum utilization and mutual performance impairment. The entity of the issue escalates in industrial IoT (IIoT) applications,…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability. Such combinatorial constraints in system design and…
In this article, we explore the problem of the region of synchronization (ROS) for complex networks with nonlinear dynamics. Given a pair of state- and target- sets, our goal is to estimate the ROS such that the trajectories originating…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
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…
The Diminishing Bandwidth Problem is a long standing, previously unidentified, extensibility problem of current real-time operating systems characterized by a superficial dependency between the number of tasks in a system and the maximum…