Efficient algorithms for optimistic crash recovery

Summary Recovery from transient processor failures can be achieved by using optimistic message logging and checkpointing. The faulty processorsroll back, and some/all of the non-faulty processors also may have to roll back. This paper formulates the rollback problem as a closure problem. A centralized closure algorithm is presented together with two efficient distributed implementations. Several related problems are also considered and distributed algorithms are presented for solving them. S. Venkatesan received the B. Tech. and M. Tech degrees from the Indian Institute of Technology, Madras in 1981 and 1983, respectively and the M.S. and Ph.D. degrees in Computer Science from the University of Pittsburgh in 1985 and 1988. He joined the University of Texas at Dallas in January 1989, where he is currently an Assistant Professor of Computer Science. His research interests are in fault-tolerant distributed systems, distributed algorithms, testing and debugging distributed programs, fault-tolerant telecommunication networks, and mobile computing. Tony Tony-Ying Juang is an Associate Professor of Computer Science at the Chung-Hwa Polytechnic Institute. He received the B.S. degree in Naval Architecture from the National Taiwan University in 1983 and his M.S. and Ph.D. degrees in Computer Science from the University of Texas at Dallas in 1989 and 1992, respectively. His research interests include distributed algorithms, fault-tolerant distributed computing, distributed operating systems and computer communications.This research was supported in part by NSF under Grant No. CCR-9110177 and by the Texas Advanced Technology Program under Grant No. 9741-036     

Dynamic group communication

Group communication is the basic infrastructure for implementing fault-tolerant replicated servers. While group communication is well understood in the context of static groups (in which the membership does not change), current specifications of dynamic group communication (in which processes can join and leave groups during the computation) have not yet reached the same level of maturity. The paper proposes new specifications – in the primary partition model – for dynamic reliable broadcast (simply called “reliable multicast”), dynamic atomic broadcast (simply called “atomic multicast”) and group membership. In the special case of a static system, the new specifications are identical to the well known static specifications. Interestingly, not only are these new specifications “syntactically” close to the static specifications, but they are also “semantically” close to the dynamic specifications proposed in the literature. We believe that this should contribute to clarify a topic that has always been difficult to understand by outsiders. Finally, the paper shows how to solve atomic multicast, group membership and reliable broadcast. The solution of atomic multicast is close to the (static) atomic broadcast solution based on reduction to consensus. Group membership is solved using atomic multicast. Reliable multicast can be efficiently solved by relying on a thrifty generic multicast algorithm. Andrée Schiper graduated in Physics from the ETHZ in Zurich in 1973 and received the PhD degree in Computer Science from the EPFL (Federal Institute of Technology in Lausanne, Switzerland) in 1980. He has been a professor of computer science at EPFL since 1985, leading the Distributed Systems Laboratory. During the academic year 1992–1993, he was on sabbatical leave at the University of Cornell, Ithaca, New York, and in 2004-2005 at the Ecole Polytechnique near Paris. His research interests are in the area of dependable distributed systems, middleware support for dependable systems, replication techniques (including for database systems), group communication, distributed transactions, and, recently MANETs (mobile ad-hoc networks). From 2000 to 2002, he was the chair of the steering committee of the International Symposium on Distributed Computing (DISC). He has taken part in several European projects. He is currently a member of the editorial board of Distributed Computing, and of IEEE Transactions on Dependable and Secure Computing.     

Fault-tolerant atomic computations in an object-based distributed system

A distributed system can support fault-tolerant applications by replicating data and computation at nodes that have independent failure modes. We present a scheme called parallel execution threads (PET) which can be used to implement fault-tolerant computations in an object-based distributed system. In a system that replicates objects, the PET scheme can be used to replicate a computation by creating a number of parallel threads which execute with different replicas of the invoked objects. A computation can be completed successfully if at least one thread does not encounter any failed nodes and its completion preserves the consistency of the objects. The PET scheme can tolerate failures that occur during the execution of the computation as long as all threads are not affected by the failures. We present the algorithms required to implement the PET scheme and also address some performance issues. Mustaque Ahamad received his B.E. (Hons.) degree in Electrical Engineering from the Birla Institute of Technology and Science, Pilani, India. He obtained his M.S. and Ph.D. degrees in Computer Science from the State University of New York at Stony Brook in 1983 and 1985 respectively. Since September 1985, he is an Assistant Professor in the School of Information and Computer Science at the Georgia Institute of Technology, Atlanta. His research interests include distributed operating systems, distributed algorithms, faulttolerant systems and performance evaluation. Partha Dasgupta is an Assistant Professor at Georgia Tech since 1984. He has a Ph.D. in Computer Science from the State University of New York at Stony Brook. He is the technical project director of the Clouds distributed operating systems project, as well as a coprincipal investigator of Georgia Tech's NSF-CER award. His research interests include building distributed operating systems, distributed algorithms, fault-tolerant systems and distributed programming support. Richard J. LeBlanc, Jr. received the B.S. degree in physics from Louisiana State University in 1972 and the M.S. and Ph.D. degrees in computer sciences from the University of Wisconsin-Madison in 1974 and 1977, respectively. He is currently a Professor in the School of Information and Computer Science of the Georgia Institute of Technology. His research interests include programming language design and implementation, programming environments, and software engineering. Dr. LeBlanc's current research work involves application of these interests in distributed processing systems. As co-director of the Clouds Project, he is studying language concepts and software engineering methodology for utilizing a highly reliable, object-based distributed system. He is also interested in specification-based software development methodologies and tools. Dr. LeBlanc is a member of the Association for Computing Machinery, the IEEE Computer Society and Sigma Xi.This work was supported in part by NSF grants CCR-8619886 and CCR-8806358, and RADC contract number F30602-86-C-0032     

Causal memory: definitions,implementation, and programming

Summary The abstraction of a shared memory is of growing importance in distributed computing systems. Traditional memory consistency ensures that all processes agree on a common order of all operations on memory. Unfortunately, providing these guarantees entails access latencies that prevent scaling to large systems. This paper weakens such guarantees by definingcausal memory, an abstraction that ensures that processes in a system agree on the relative ordering of operations that arecausally related. Because causal memory isweakly consistent, it admits more executions, and hence more concurrency, than either atomic or sequentially consistent memories. This paper provides a formal definition of causal memory and gives an implementation for message-passing systems. In addition, it describes a practical class of programs that, if developed for a strongly consistent memory, run correctly with causal memory. Mustaque Ahamad is an Associate Professor in the College of Computing at the Georgia Institute of Technology. He received his M.S. and Ph.D. degrees in Computer Science from the State University of New York at Stony Brook in 1983 and 1985 respectively. His research interests include distributed operating systems, consistency of shared information in large scale distributed systems, and replicated data systems. James E. Burns received the B.S. degree in mathematics from the California Institute of Technology, the M.B.I.S. degree from Georgia State University, and the M.S. and Ph.D. degrees in information and computer science from the Georgia Institute of Technology. He served on the faculty of Computer Science at Indiana University and the College of Computing at the Georgia Institute of Technology before joining Bellcore in 1993. He is currently a Member of Technical Staff in the Network Control Research Department, where he is studying the telephone control network with special interest in behavior when faults occur. He also has research interests in theoretical issues of distributed and parallel computing especially relating to problems of synchronization and fault tolerance.This work was supported in part by the National Science Foundation under grants CCR-8619886, CCR-8909663, CCR-9106627, and CCR-9301454. Parts of this paper appeared in S. Toueg, P.G. Spirakis, and L. Kirousis, editors,Proceedings of the Fifth International Workshop on Distributed Algorithms, volume 579 ofLecture Notes on Computer Science, pages 9–30, Springer-Verlag, October 1991The photograph of Professor J.E. Burns was published in Volume 8, No. 2, 1994 on page 59This author's contributions were made while he was a graduate student at the Georgia Institute of Technology. No photograph and biographical information is available for P.W. Hutto Gil Neiger was born on February 19, 1957 in New York, New York. In June 1979, he received an A.B. in Mathematics and Psycholinguistics from Brown University in Providence, Rhode Island. In February 1985, he spent two weeks picking cotton in Nicaragua in a brigade of international volunteers. In January 1986, he received an M.S. in Computer Science from Cornell University in Ithaca, New York and, in August 1988, he received a Ph.D. in Computer Science, also from Cornell University. On August 20, 1988, Dr. Neiger married Hilary Lombard in Lansing, New York. He is currently a Staff Software Engineer at Intel's Software Technology Lab in Hillsboro, Oregon. Dr. Neiger is a member of the editorial boards of theChicago Journal of Theoretical Computer Science and theJournal of Parallel and Distributed Computing.     

Parallel simulation on the hypercube multiprocessor

Summary This paper focuses upon a particular conservative algorithm for parallel simulation, the Time of Next Event (TNE) suite of algorithms [13]. TNE relies upon a shortest path algorithm which is independently executed on each processor in order to unblock LPs in the processor and to increase the parallelism of the simulation. TNE differs fundamentally from other conservative approaches in that it takes advantage of having several LPs assigned to each processor, and does not rely upon message passing to provide lookahead. Instead, it relies upon a shortest path algorithm executed independently in each processor. A deadlock resolution algorithm is employed for interprocessor deadlocks. We describe an empirical investigation of the performance of TNE on the iPSC/i860 hypercube multiprocessor. Several factors which play an important role in TNE's behavior are identified, and the speedup relative to a fast uniprocessor-based event list algorithm is reported. Our results indicate that TNE yields good speedups and out-performs an optimized version of the Chandy&Misra-null message (CMB) algorithm. TNE was 2–5 times as fast as the CM approach for less than 10 processors (and 1.5–3 times as fast when more than 10 processors were used for the same population of processes.) Azzedine Boukerche received the State Engineer degree in Software Engineering from Oran University, Oran, Algeria, and the M.Sc. degree in Computer Science from McGill University, Montreal, Canada. He is a Ph.D. candidate at the School of Computer Science, McGill University. During 1991–1992, he was a visiting doctoral student at the California Institute of Technology. He is employed as a Faculty Lecturer of computer Science at McGill University since 1993. His research interests include parallel simulation, distributed algorithms, and system performance analysis. He is a student member of the IEEE and ACM. Carl Tropper is an Associate Professor of Computer Science at McGill University. His primary area of research is parallel discrete event simulation. His general area of interest is in parallel computing and distributed algorithms in particular. Previously, he has done research in the performance modeling of computer networks, having written a book,Local Computer Network Technologies, while active in the area. Before coming to university life, he worked for the BBN Corporation and the Mitre Corporation, both located in the Boston area. He spent the 1991–92 academic year on a sabbatical leave at the Jet Propulsion Laboratories of the California Institute of Technology where he contributed to a project centered about the verification of flight control software. As part of this project he developed algorithms for the parallel simulation of communicating finite state machines. During winters he may be found hurtling down mountains on skis.This work has been completed while the author was a visiting doctoral student at the California Institute of TechnologyWas on sabbatical leave at the Jet Propulsion laboratories, California Institute of Technology     

Towards Autonomous Indoor Micro VTOL

Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL¹ systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring, building exploration and intervention in hostile environments. In this paper, we emphasize the importance of the VTOL vehicle as a candidate for the high-mobility system emergence. In addition, we describe the approach that our lab² has taken to micro VTOL evolving towards autonomy and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.³Samir Bouabdallah is research assistant and Ph.D. student at the Autonomous Systems Lab (ASL) at the Swiss Federal Institute of Technology, Lausanne, (EPFL). He got his Masters in Electrical Engineer from Abu Bakr Belkaid University (ABBU) Tlemcen, Algeria in 2001. His master thesis was the development of an autonomous mobile robot for academic research. His current research interests are control systems and design optimization of VTOL flying robots.Pierpaolo Murrieri is a Ph.D. student at the Centro Interdipartimentale E. Piaggio and Dipartimento Sistemi Elettrici ed Automazione (DSEA) at the University of Pisa. He got his Master in Electrical Engineer from University of Pisa in 2000. His master thesis was about the registration of biomedical images. His current research interests are mobile robotics, nonlinear control and artificial vision.Roland Siegwart is director of the Autonomous Systems Lab (ASL) at the Swiss Federal Institute of Technology Lausanne (EPFL). He received his Masters in Mechanical Engineering in 1983 and his Ph.D. in 1989 at the Swiss Federal Institute of Technology Zurich (ETH). In 1989/90 he spent one year as postdoc at Stanford University. From 1991 to 1996 he worked part time as R&D director at MECOS Traxler AG and as a lecturer and deputy head at the Institute of Robotics, ETH. In 1996 he joined EPFL as full professor where he is working in robotics and mechatronics, namely mobile robot navigation, space robotics, human-robot interaction, all terrain locomotion and micro-robotics. Roland Siegwart is member of various scientific committees and cofounder of several spin-off companies.     

Programming languages for distributed applications

Much progress has been made in distributed computing in the areas of distribution structure, open computing, fault tolerance, and security. Yet, writing distributed applications remains difficult because the programmer has to manage models of these areas explicitly. A major challenge is to integrate the four models into a coherent development platform. Such a platform should make it possible to cleanly separate an application’s functionality from the other four concerns. Concurrent constraint programming, an evolution of concurrent logic programming, has both the expressiveness and the formal foundation needed to attempt this integration. As a first step, we have designed and built a platform that separates an application’s functionality from its distribution structure. We have prototyped several collaborative tools with this platform, including a shared graphic editor whose design is presented in detail. The platform efficiently implements Distributed Oz, which extends the Oz language with constructs to express the distribution structure and with basic primitives for open computing, failure detection and handling, and resource control. Oz appears to the programmer as a concurrent object-oriented language with dataflow synchronization. Oz is based on a higher-order, state-aware, concurrent constraint computation model. Seif Haridi, Ph.D.: He received his Ph.D. in computer science in 1981 from the Royal Institute of Technology, Sweden. After spending 18 months at IBM T. J. Watson Research Center, he moved to the Swedish Institute of Computer Science (SICS) to form a research lab on logic programming and parallel systems. Dr. Haridi is currently the research director of the Swedish Institute of Computer Science. He has been an active researcher in the area of logic and constraint programming and parallel processing since the beginning of the eighties. His earlier work includes contributions to the design of SICStus Prolog, various parallel Prolog systems and a class of scalable cache-coherent multiprocessors known as Cache-Only Memory Architecture (COMA). During the nineties most of his work focused on the design of multiparadigm programming systems based on Concurrent Constraint Programming (CCP). Currently, he is interested in programming systems and software methodology for distributed and agent-based applications. Peter Van Roy, Ph.D.: He obtained an engineering degree from the Vrije Universiteit Brussel (1983), Masters and Ph.D. degrees from the University of California at Berkeley (1984, 1990), and the Habilitation à Diriger des Recherches from Paris VII Denis Diderot (1996). He has made major contributions to logic language implementation. His research showed for the first time that Prolog can be implemented with the same execution efficiency as C. He was principal developer or codeveloper of Aquarius Prolog, Wild_Life, Logical State Threads, and FractaSketch. He joined the Oz project in 1994 and is currently working on Distributed Oz. His research interests are motivated by the desire to provide increased expressivity and efficiency to application developers. Per Brand: He is a researcher at the Swedish Institute of Computer Science. He has previously worked on the design and implementation of OR-parallel Prolog (the Aurora project) and optimized compilation techniques for Concurrent Constraint Programming Languages (in particular, AKL). He has been a member of the Distributed Oz design team since the project began. His research interests are focused on techniques, languages, and methodology for distributed programming. Christian Schulte: He studied computer science at the University of Karlsruhe, Germany, from 1987 to 1992 where he received his diploma. Since 1992 he has been a member of the Programming Systems Lab at DFKI. He is one of the principal designers of Oz. His research interests include design, implementation, and application of concurrent and distributed programming languages as well as constraint programming.     

Achieving dynamic, multi-commander, multi-mission planning and execution

The Multi-Agent Distributed Goal Satisfaction (MADGS) system facilitates distributed mission planning and execution in complex dynamic environments with a focus on distributed goal planning and satisfaction and mixed-initiative interactions with the human user. By understanding the fundamental technical challenges faced by our commanders on and off the battlefield, we can help ease the burden of decision-making. MADGS lays the foundations for retrieving, analyzing, synthesizing, and disseminating information to commanders. In this paper, we present an overview of the MADGS architecture and discuss the key components that formed our initial prototype and testbed. Eugene Santos, Jr. received the B.S. degree in mathematics and Computer science and the M.S. degree in mathematics (specializing in numerical analysis) from Youngstown State University, Youngstown, OH, in 1985 and 1986, respectively, and the Sc.M. and Ph.D. degrees in computer science from Brown University, Providence, RI, in 1988 and 1992, respectively. He is currently a Professor of Engineering at the Thayer School of Engineering, Dartmouth College, Hanover, NH, and Director of the Distributed Information and Intelligence Analysis Group (DI²AG). Previously, he was faculty at the Air Force Institute of Technology, Wright-Patterson AFB and the University of Connecticut, Storrs, CT. He has over 130 refereed technical publications and specializes in modern statistical and probabilistic methods with applications to intelligent systems, multi-agent systems, uncertain reasoning, planning and optimization, and decision science. Most recently, he has pioneered new research on user and adversarial behavioral modeling. He is an Associate Editor for the IEEE Transactions on Systems, Man, and Cybernetics: Part B and the International Journal of Image and Graphics. Scott DeLoach is currently an Associate Professor in the Department of Computing and Information Sciences at Kansas State University. His current research interests include autonomous cooperative robotics, adaptive multiagent systems, and agent-oriented software engineering. Prior to coming to Kansas State, Dr. DeLoach spent 20 years in the US Air Force, with his last assignment being as an Assistant Professor of Computer Science and Engineering at the Air Force Institute of Technology. Dr. DeLoach received his BS in Computer Engineering from Iowa State University in 1982 and his MS and PhD in Computer Engineering from the Air Force Institute of Technology in 1987 and 1996. Michael T. Cox is a senior scientist in the Intelligent Distributing Computing Department of BBN Technologies, Cambridge, MA. Previous to this position, Dr. Cox was an assistant professor in the Department of Computer Science & Engineering at Wright State University, Dayton, Ohio, where he was the director of Wright State’s Collaboration and Cognition Laboratory. He received his Ph.D. in Computer Science from the Georgia Institute of Technology, Atlanta, in 1996 and his undergraduate from the same in 1986. From 1996 to 1998, he was a postdoctoral fellow in the Computer Science Department at Carnegie Mellon University in Pittsburgh working on the PRODIGY project. His research interests include case-based reasoning, collaborative mixed-initiative planning, intelligent agents, understanding (situation assessment), introspection, and learning. More specifically, he is interested in how goals interact with and influence these broader cognitive processes. His approach to research follows both artificial intelligence and cognitive science directions.     

One-bit algorithms

Many algorithms in distributed systems assume that the size of a single message depends on the number of processors. In this paper, we assume in contrast that messages consist of a single bit. Our main goal is to explore how the one-bit translation of unbounded message algorithms can be sped up by pipelining. We consider two problems. The first is routing between two processors in an arbitrary network and in some special networks (ring, grid, hypercube). The second problem is coloring a synchronous ring with three colors. The routing problem is a very basic subroutine in many distributed algorithms; the three coloring problem demonstrates that pipelining is not always useful. Amotz Bar-Noy received his B.Sc. degree in Mathematics and Computer Science in 1981, and his Ph.D. degree in Computer Science in 1987, both from the Hebrew University of Jerusalem, Israel. Between 1987 and 1989 he was a post-doctoral fellow in the Department of Computer Science at Stanford University. He is currently a visiting scientist at the IBM Thomas J. Watson Research Center. His current research interests include the theoretical aspects of distributed and parallel computing, computational complexity and combinatorial optimization. Joseph (Seffi) Naor received his B.A. degree in Computer Science in 1981 from the Technion, Israel Institute of Technology. He received his M.Sc. in 1983 and Ph.D. in 1987 in Computer Science, both from the Hebrew University of Jerusalem, Israel. Between 1987 and 1988 he was a post-doctoral fellow at the University of Southern California, Los Angeles, CA. Since 1988 he has been a post-doctoral fellow in the Department of Computer Science at Stanford University. His research interests include combinatorial optimization, randomized algorithms, computational complexity and the theoretical aspects of parallel and distributed computing. Moni Naor received his B.A. in Computer Science from the Technion, Israel Institute of Technology, in 1985, and his Ph.D. in Computer Science from the University of California at Berkeley in 1989. He is currently a visiting scientist at the IBM Almaden Research Center. His research interests include computational complexity, data structures, cryptography, and parallel and distributed computation.Supported in part by a Weizmann fellowship and by contract ONR N00014-85-C-0731Supported by contract ONR N00014-88-K-0166 and by a grant from Stanford's Center for Integrated Systems. This work was done while the author was a post-doctoral fellow at the University of Southern California, Los Angeles, CAThis work was done while the author was with the Computer Science Division, University of California at Berkeley, and Supported by NSF grant DCR 85-13926     

Fast and simple distributed consensus

Summary The problem of fault-tolerant agreement is fundamental to distributed computing. When agreement is to be reached in spite of arbitrary behavior by faulty processors, this problem is calledDistributed Consensus. By requiring that the number of faulty processors be , wheren is the number of processors in the system, we are able to derive two new protocols forDistributed Consensus. Both are simple and use messages that are only one bit in length, and both provide forearly stopping: the fewer failures there are, the fewer rounds of communication are required. One protocol is optimal with respect to the number of rounds of communication required, and the other is asymptotically optimal with respect to the total number of message bits exchanged. James E. Burns received the B.S. degree in mathematics from the California Institute of Technology, the M.B.I.S. degree from Georgia State University, and the M.S. and Ph.D. degrees in information and computer science from the Georgia Institute of Technology. He served on the faculty of Computer Science at Indiana University and the College of Computing at the Georgia Institute of Technology before joining Bellcore in 1993. He is currently a Member of Technical Staff in the Network Control Research Department, where he is studying the telephone control network with special interest in behavior when faults occur. He also has research interests in theoretical issues of distributed and parallel computing, especially relating to problems of synchronization and fault tolerance. Gil Neiger was born on February 19, 1957 in New York, New York. In June 1979, he received an A.B. in Mathematics and Psycholinguistics from Brown University in Proidence, Rhode Island. In February 1985, he spent two weeks picking cotton in Nicaragua in a brigade of international volunteers. In January 1986, he received an M.S. in Computer Science from Cornell University in Ithaca, New York and, in August 1988, he received a Ph.D. in Computer Science, also from Cornell University. On August 20, 1988, Dr. Neiger married Hilary Lombard in Lansing, New York. Since August 1988, he has been an Assistant Professor in the College of Computing (formely School of Information and Computer Science) at the Georgia Institute of Technology in Atlanta, Georgia. Dr. Neiger is a member of the editorial board of theChicago Journal of Theoretical Computer Science and theJournal of Parallel and Distributed Computing.This author was supported in part by the National Science Foundation under grants CCR-8909663, CCR-9106627, and CCR-9301454.     

Real-time arithmetic unit

In this paper we discuss the paradigm of real-time processing on the lower level of computing systems. An arithmetical unit based on this principle containing addition, multiplication, division and square root operations is described. The development of the computation operators model is based on the imprecise computation paradigm and defines the concept of the adjustable calculation of a function that manages delay and the precision of the results as an inherent and parameterized characteristic. The arithmetic function design is based on well-known algorithms and offers progressive improvement in the results. Advantages in the predictability of calculations are obtained by means of processing groups of k-bits atomically and by using look-up tables. We report an evaluation of the operations in path time, delay and computation error. Finally, we present an example of our real-time architecture working in a realistic context. Higinio Mora-Mora received the BS degree in computer science engineering and the BS degree in business studies in University of Alicante, Spain, in 1996 and 1997, respectively. He received the PhD degree in computer science from the University of Alicante in 2003. Since 2002, he is a member of the faculty of the Computer Technology and Computation Department at the same university where he is currently an associate professor and researcher of Specialized Processors Architecture Laboratory. His areas of research interest include computer arithmetic and the design of floating points units and approximation algorithms related to VLSI design. Jerónimo Mora-Pascual received the BS degree in computer science engineering from University of Valencia (Spain), in 1994. Since 1994, he has been a member of the faculty of the Computer Technology and Computation department at the University of Alicante, where he is currently an associate professor. He completed his PhD in computer science at University of Alicante in 2001. He has worked on neural networks and its VLSI implementation. His current areas of research interest include the design of floating points units and its application for real-time systems and processors for geometric calculus. Juan Manuel García-Chamizo received his BS in physics at the University of Granada (Spain) in 1980, and the PhD degree in Computer Science at the University of Alicante (Spain) in 1994. He is currently a full professor and director of the Computer Technology and Computation department at the University of Alicante. His current research interests are computer vision, reconfigurable hardware, biomedical applications, computer networks and architectures and artificial neural networks. He has directed several research projects related to the above-mentioned interest areas. He is a member of a Spanish Consulting Commission on Electronics, Computer Science and Communications. He is also member and editor of some program committee conferences. Antonio Jimeno-Morenilla is associate professor in the Computer Technology and Computation department at the University of Alicante (Spain). He received his PhD from the University of Alicante in 2003. He concluded his bachelor studies at the EPFL (Ecole Polytechnique Fe’de’rale de Lausanne, Switzerland) and received his BS degree in computer science from the Polytechnical University of Valencia (Spain) in 1994. His research interests include sculptured surface manufacturing, CAD/CAM, computational geometry for design and manufacturing, rapid and virtual prototyping, 3D surface flattening, and high performance computer architectures. He has considerable experience in the development of 3D CAD systems for shoes. In particular, he has been involved in many government and industrial funded projects, most of them in collaboration with the Spanish Footwear Research Institute (INESCOP).     

Concurrent common knowledge: defining agreement for asynchronous systems

Summary In this paper we present a new, knowledgetheoretic definition of agreement designed for asynchronous systems. In analogy with common knowledge, it is calledconcurrent common knowledge. Unlike common knowledge, it is a form of agreement that is attainable asynchronously. In defining concurrent common knowledge, we give a logic with new modal operators and a formal semantics, both of which are based on causality and consequently capture only the relevant structure of purely asynchronous systems. We give general conditions by which protocols attain concurrent common knowledge and prove that two simple and efficient protocols do so. We also present several applications of our logic. We show that concurrent common knowledge is a necessary and sufficient condition for the concurrent performance of distributed actions. We also demonstrate the role of knowledge in taking snapshots for stable property detection and asynchronous broadcasts. In general, applications that involve all processes reaching agreement about some porperty of a consistent global state can be understood in terms of concurrent common knowledge. Prakash Panangaden was born in Pune, India in 1954. He attended Calcutta Boys' School and subsequently attended the Indian Institute of Technology, Kanpur where he received an M.Sc. in Physics in 1975. He went to graduate school at the University of Chicago where he studied relativity. He moved to the University of Wisconsin-Milwaukee to study with Leonard Parker to work on quantum field theory on curved space times. After a post-doc at the University of Utah, he decided that it was time for something completely different. He began a Masters with Robert Keller on the semantics of indeterminate dataflow networks. He became an Assistant professor at Cornell University in 1985 and an Associate Professor at McGill University in 1990. He has also made extended visits to the Computer Laboratory, University of Cambridge and to the C.W.I. Amsterdam. Kim Taylor has been an assistant professor at the University of California at Santa Cruz since July 1990. Her research interests are in the design and analysis of algorithms for distributed systems. She received the BS degree in Electrical Engineering and Computer Science from Rice University in May 1985, and the PhD in Computer Science from Cornell University in August 1990.An earlier version of this work appears in Proceedings of the Seventh Annual ACM Symposium on Principles of Distributed Computing, August 1988Supported in part by NSF grants DCR-8602072 and CCR-8818979.Supported in part by an AT&T Ph.D. Scholarship.     

Resource access control for dynamic priority distributed real-time systems

Many of today’s complex computer applications are being modeled and constructed using the principles inherent to real-time distributed object systems. In response to this demand, the Object Management Group’s (OMG) Real-Time Special Interest Group (RT SIG) has worked to extend the Common Object Request Broker Architecture (CORBA) standard to include real-time specifications. This group’s most recent efforts focus on the requirements of dynamic distributed real-time systems. One open problem in this area is resource access synchronization for tasks employing dynamic priority scheduling. This paper presents two resource synchronization protocols that meet the requirements of dynamic distributed real-time systems as specified by Dynamic Scheduling Real-Time CORBA 2.0 (DSRT CORBA). The proposed protocols can be applied to both Earliest Deadline First (EDF) and Least Laxity First (LLF) dynamic scheduling algorithms, allow distributed nested critical sections, and avoid unnecessary runtime overhead. These protocols are based on (i) distributed resource preclaiming that allocates resources in the message-based distributed system for deadlock prevention, (ii) distributed priority inheritance that bounds local and remote priority inversion, and (iii) distributed preemption ceilings that delimit the priority inversion time further. Chen Zhang is an Assistant Professor of Computer Information Systems at Bryant University. He received his M.S. and Ph.D. in Computer Science from the University of Alabama in 2000 and 2002, a B.S. from Tsinghua University, Beijing, China. Dr. Zhang’s primary research interests fall into the areas of distributed systems and telecommunications. He is a member of ACM, IEEE and DSI. David Cordes is a Professor of Computer Science at the University of Alabama; he has also served as Department Head since 1997. He received his Ph.D. in Computer Science from Louisiana State University in 1988, an M.S. in Computer Science from Purdue University in 1984, and a B.S. in Computer Science from the University of Arkansas in 1982. Dr. Cordes’s primary research interests fall into the areas of software engineering and systems. He is a member of ACM and a Senior Member of IEEE.     

Achieving graceful performance in distributed error-prone databases

Data availability is an important requirement of distributed databases. Replication is a technique that has been proposed to meet this need. In the absence of failures, traditional replica control algorithms provide complete availability in the sense that any transaction can be executed. The worst case of data availability occurs when the system is totally partitioned (each operational site is isolated from every other site). In this paper, we present techniques to achieve high availability under combinations of site failures and partitions. Users are required to specify the database access requirements in the totally-partitioned environment. This information is represented by means of a Read Access Graph (RAG). When failures occur, the set of items that may be accessed by a transaction depends on the connectivity of the network and the RAG. The techniques ensure that as failures occur the loss of availability is gradual and graceful. Data availability improves with the level of normalcy in the system. Unless there is a complete failure, at least some predefined set of transactions can be executed. It is shown that these algorithms preserve the integrity of the database by ensuring that all executions are one-copy serializable. The algorithms compare favorably with other replica management schemes in terms of availability. K. Brahmadathan obtained a Bachelor's degree in Electronics and Communications Engineering from University of Kerala, Trivandrum, India; a Master's degree in Computer Science from Indian Institute of Technology, Madras, India; and the M.S. and Ph.D. degrees in Computer Science from University of Pittsburgh. Since 1989, he has been an Assistant Professor of Computer Science at the University of Wyoming. His research interests are in the areas of database systems and distributed systems. K.V.S. Ramarao obtained his M.Sc. in Applied Mathematics from Andhra University, Waltair, India; M.Tech. in Computer Science from IIT Kanpur, India; and the Ph.D. in Computing Science from University of Alberta, Edmonton, Canada. He is currently a Senior Technologist for Southwestern Bell Technology Resources, Inc. Prior to that, he was an Assistant Professor at the University of Pittsburgh. His current research interests include distributed systems and distributed databases.     

Efficient detection of a class of stable properties

Summary We present a general protocol for detecting whether a property holds in a distributed system, where the property is a member of a class of stable properties we call thelocally stable properties. Our protocol is based on a decentralized method for constructing a maximal subset of the local states that are mutually consistent, which in turn is based on a weakened version of vector time stamps. The structure of our protocol lends itself to refinement, and we demonstrate its utility by deriving some specialized property-detection protocols, including two previously-known protocols that are known to be efficient. Laura Sabel received the BSE degree from Princeton University in 1989 and the MS degree in Computer Science from Cornell University in 1992. She is currently a PhD student in the Department of Computer Science at Cornell University. Her research interests include fault-tolerance and distributed systems. she is the recipient of an AT&T PhD Scholarship. Keith Marzullo received his Ph.D. degree in electrical engineering from Stanford University in 1984. He is an associate professor in the Computer Science and Engineering Department at the University of California, San Diego. His research interests are in the area of fault-tolerance in both asynchronous and real-time distributed systems. He has consulted on several projects including the IBM Air Traffic Control System, and is an associate editor for IEEE Transactions on Software Engineering.This work was supported by the Defense Advanced Research Projects Agency (DoD) under NASA Ames grant number NAG 2-593, and by grants from IBM and Siemens. The views, opinions, and findings contained in this report are those of the authors and should not be construed as an official Department of Defense position, policy, or decision. An earlier version of this paper appears in theProceedings of the 5th International Workshop on Distributed Systems, October 1991, Springer-Verlag LNCS Vol. 579This author is also supported by an AT&T PhD Scholarship     

Self-stabilization of dynamic systems assuming only read/write atomicity

Summary Three self-stabilizing protocols for distributed systems in the shared memory model are presented. The first protocol is a mutual-exclusion prootocol for tree structured systems. The second protocol is a spanning tree protocol for systems with any connected communication graph. The thrid protocol is obtianed by use offair protoco combination, a simple technique which enables the combination of two self-stabilizing dynamic protocols. The result protocol is a self-stabilizing, mutualexclusion protocol for dynamic systems with a general (connected) communication graph. The presented protocols improve upon previous protocols in two ways: First, it is assumed that the only atomic operations are either read or write to the shared memory. Second, our protocols work for any connected network and even for dynamic network, in which the topology of the network may change during the excution. Shlomi Dolev received his B.Sc. in Civil Engineering and B.A. in Computer Science in 1984 and 1985, and his M.Sc. and Ph.D. in computer Sciene in 1989 and 1992 from the Technion Israel Institute of Technology. He is currently a post-dotoral fellow in the Department of Computer Science at Texas A & M Univeristy. His current research interests include the theoretical aspects of distributed computing and communcation networks. Amos Israeli received his B.Sc. in Mathematics and Physics from Hebrew University in 1976, and his M.Sc. and D.Sc. in Computer Science from the Weizmann Institute in 1980 and the Technion in 1985, respectively. Currently he is a sensior lecturer at the Electrical Engineering Department at the Technion. Prior tot his he was a postdoctoral fellow at the Aiken Computation Laboratory at harvard. His research interests are in Parellel and Distributed Computing and in Robotics. In particular he has worked on the design and analysis of Wait-Free and Self-Stabilizing distributed protocols. Shlomo Moran received his B.Sc. and D.Sc. degrees in matheamtics from Technion, Israel Institute of Technology, Haifa, in 1975 and 1979, respectively. From 1979 to 1981 he was assistant professors and a visiting research specialist at the University of Minnesota, Minneapolis. From 1981 to 1985 he was a senior lecturer at the Department of Computer Science. Technion, and from 1985 to 1986 he visted at IBM Thoas J. Watson Research Center, Yorktown Heights. From 1986 to 1993 he was an associated professor at the Department of Computer Science, Technin. in 1992–3 he visited at AT & T Bell Labs at Murray Hill and at Centrum voor Wiskunde en Informatica, Amsterdam. From 1993 he is a full professor at the Department of Computer Science, Technion. His researchinterests include distributed algorithm, computational complexity, combinatorics and grapth theory.Part of this research was supported in part by Technion V.P.R. Funds — Wellner Research Fund, and by the Foundation for Research in Electronics, Computers and Communictions, administrated by the Israel Academy of Sciences and Humanities.     

A Modular Concept of the Robotic Vehicle for Demining Operations

Paper analyses some most important characteristics that should be taken into consideration in building the robotic demining vehicle. Based on previous experiences from the development of demining technology the modular concept of the multipurpose vehicle and some its main functional parts are discussed. Such robotic vehicle can be used as general porter of various detection systems, tools for cleaning terrain as well as neutralization equipment. Further development towards partially autonomous system and some principal tasks of positioning in dangerous terrain are analyzed. The real construction of the vehicle equipped by the flailing mechanisms for mechanical activation of explosions is briefly presented.tefan Havlk graduated in Mechanical and in Control engineering and received the (M.S.) degree from Czech Technical University, Liberec (1972). In 1982 he received the Ph.D. degree and the highest scientific degree Dr.Sc. (1994) from the Slovak Academy of Sciences, the scientific institution, where he works since 1977.Within years 1991 and 1992 he has been appointed as invited professor at Swiss Federal Institute of Technology (EPFL-DMT/IMT) in Lausanne, Switzerland. Currently he is head of the research department at the Institute of Informatics of the Slovak Academy of Sciences in Banska Bystrica, Slovakia.– His research activities diverge from solving problems of advanced robotics, control to applications. His main contributions are oriented to the following topics:– Mechatronic design and flexible structures– Sensors and sensory equipment– Applications of advanced robotics: precise assembly and welding, service operations– Robotic tools for demining.He is author more then 100 scientific papers in books, international scientific journals and conference proceedings. He was leading several research projects oriented to development advanced sensing and robotic systems for manufacturing (arc welding, assembly) or for humanitarian demining.He is/was member of several professional organizations and committees under IARP, IMECO, IFAC or IFToMM.     

Towards the construction of distributed detection programs,with an application to distributed termination

Summary Methodological design of distributed programs is necessary if one is to master the complexity of parallelism. The class of control programs, whose purpose is to observe or detect properties of an underlying program, plays an important role in distributed computing. The detection of a property generally rests upon consistent evaluations of a predicate; such a predicate can be global, i.e. involve states of several processes and channels of the observed program. Unfortunately, in a distributed system, the consistency of an evaluation cannot be trivially obtained. This is a central problem in distributed evaluations. This paper addresses the problem of distributed evaluation, used as a basic tool for solution of general distributed detection problems. A new evaluation paradigm is put forward, and a general distributed detection program is designed, introducing the iterative scheme ofguarded waves sequence. The case of distributed termination detection is then taken to illustrate the proposed methodological design. Jean-Michel Hélary is currently professor of Computer Science at the University of Rennes, France. He received a first Ph.D. degree in Numerical Analysis in 1968, then another Ph.D. Degree in Computer Science in 1988. His research interests include distributed algorithms and protocols, specially the methodological aspects. He is a member of an INRIA research group working at IRISA (Rennes) on distributed algorithms and applications. Professor Jean-Michel Hélary has published several papers on these subjects, and is co-author of a book with Michel Raynal. He serves as a PC member in an international conference. Michel Raynal is currently professor of Computer Science at the University of Rennes, France. He received the Ph.D. degree in 1981. His research interests include distributed algorithms, operating systems, protocols and parallelism. He is the head of an INRIA research group working at IRISA (Rennes) on distributed algorithms and applications. Professor Michel Raynal has organized several international conferences and has served as a PC member in many international workshops, conferences and symposia. Over the past 9 years, he has written 7 books that constitute an introduction to distributed algorithms and distributed systems (among them: Algorithms for Mutual Exclusion, the MIT Press, 1986, and Synchronization and Control of Distributed Programs, Wiley, 1990, co-authored with J.M. Hélary). He is currently involved in two european Esprit projects devoted to large scale distributed systems.This work was supported by French Research Program C³ on Parallelism and Distributed ComputingAn extended abstract has been presented to ISTCS '92 [12]     

Behavioural notions for elementary net systems

We study the relationships between a number of behavioural notions that have arisen in the theory of distributed computing. In order to sharpen the under-standing of these relationships we apply the chosen behavioural notions to a basic net-theoretic model of distributed systems called elementary net systems. The behavioural notions that are considered here are trace languages, non-sequential processes, unfoldings and event structures. The relationships between these notions are brought out in the process of establishing that for each elementary net system, the trace language representation of its behaviour agrees in a strong way with the event structure representation of its behaviour. M. Nielsen received a Master of Science degree in mathematics and computer science in 1973, and a Ph.D. degree in computer science in 1976 both from Aarhus University, Denmark. He has held academic positions at Department of Computer Science, Aarhus University, Denmark since 1976, and was visiting researcher at Computer Science Department, University of Edinburgh, U.K., 1977–79, and Computer Laboratory, Cambridge University, U.K., 1986. His research interest is in the theory of distributed computing. Grzegorz Rozenberg received a master of engineering degree from the Department of Electronics (section computers) of the Technical University of Warsaw in 1964 and a Ph.D. in mathematics from the Institute of Mathematics of the Polish Academy of Science in 1968. He has held acdeemic positions at the Institute of Mathematics of the Polish Academy of Science, the Department of Mathematics of Utrecht University, the Department of Computer Science at SUNY at Buffalo, and the Department of Mathematics of the University of Antwerp. He is currently Professor at the Department of Computer Science of Leiden University and Adjoint Professor at the Department of Computer Science of the University of Colorado at Boulder. His research interests include formal languages and automata theory, theory of graph transformations, and theory of concurrent systems. He is currently President of the European Association for Theoretical Computer Science (EATCS). P.S. Thiagarajan received the Bachelor of Technology degree from the Indian Institute of Technology, Madras, India in 1970. He was awarded the Ph.D. degree by Rice University, Houston Texas, U.S.A, in 1973. He has been a Research Associate at the Massachusetts Institute of Technology, Cambridge a Staff Scientist at the Geosellschaft für Mathematik und Datenverarbeitung, St. Augustin, a Lektor at Århus University, Århus and an Associate Professor at the Institute of Mathematical Sciences, Madras. He is currently a Professor at the School of Mathematics, SPIC Science Foundation, Madras. He research intest is in the theory of distributed computing.