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Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
Real-time responsiveness in Linux is often constrained by interrupt contention and timer handling overhead, making it challenging to achieve sub-microsecond latency. This work introduces an interrupt isolation approach that centralizes and…
The Embedded Trace Macrocell (ETM) is a standard component of Arm's CoreSight architecture, present in a wide range of platforms and primarily designed for tracing and debugging. In this work, we demonstrate that it can be repurposed to…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Wireless Sensor Networks (WSNs) are used in many application fields, such as military, healthcare, environment surveillance, etc. The WSN OS based on event-driven model doesn't support real-time and multi-task application types and the OSs…
Decreasing hardware feature sizes and increasing heterogeneity in multicore hardware require software that can adapt to these platforms' properties. We implemented ROMAIN, an OS service providing redundant multithreading on top of the…
Dynamically available total-order broadcast (TOB) protocols tolerate fluctuating participation, e.g., as high as 99% of their participants going offline, which is especially useful in permissionless blockchain environments. However,…
Integrated sensing and communication (ISAC) has been envisioned as a promising technique to alleviate the spectrum congestion problem. Inspired by the applications of reconfigurable intelligent surface (RIS) in dynamically manipulating…
In this correspondence, we present a reconfigurable intelligent surface (RIS) that reflects an incident signal to the desired direction, depending on the pulse width. This unique reconfigurability emerges by virtue of the transient response…
In many embedded real-time systems, applications often interact with I/O devices via read/write operations, which may incur considerable suspension delays. Unfortunately, prior analysis methods for validating timing correctness in embedded…
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…
The problem of data synchronization arises in networked applications that require some measure of consistency. Indeed data synchronization approaches have demonstrated a significant potential for improving performance in various…
Emerging real-time applications have driven the transition to multicore embedded systems, where tasks must share resources due to functional demands and limited availability. These resources, whether local or global, are protected within…
The performance of multiple reconfigurable intelligent surfaces (RISs) receives limited attention in previous studies. This article fills this research gap by investigating the capabilities of multiple RISs in real-world networks. We…
The automotive industry is transitioning from federated, homogeneous, interconnected devices to integrated, heterogeneous, mixed-criticality systems (MCS). This leads to challenges in achieving timing predictability techniques due to access…
In this paper, we propose a two-bit reconfigurable intelligent surface (RIS)-aided communication system, which mainly consists of a two-bit RIS, a transmitter and a receiver. A corresponding prototype verification system is designed to…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
Multiband sensing is a promising technology that utilizes multiple non-contiguous frequency bands to achieve high-resolution target sensing. In this paper, we investigate the fundamental limits and optimization of multiband sensing,…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This study focuses on the optimization of a single-cell multi-user multiple-input multiple-output (MIMO) system with multiple large-size reconfigurable intelligent surfaces (RISs). The overall transmit power is minimized by optimizing the…