Pre-emptive versus non-pre-emptive real time scheduling in intelligent mobile robotics

Autonomous and semi-autonomous mobile robots have to perform a multiplicity of concurrent activities in order to carry out useful tasks in unstructured human-populated environments. Even if it is commonly accepted that a successful accomplishment of assigned tasks requires some sort of real time capability to quickly react and adapt to environmental changes, it is not clear which operating system support is best suited for the scheduling and synchronizing of concurrent activities with different timing requirements. This paper discusses this problem, comparing two different real time scheduling policies for autonomous robot applications: pre-emptive rate monotonic and non pre-emptive Earliest Deadline First (EDF). Experimental results are presented and evaluated.     

Performance evaluation of efficient multi-objective evolutionary algorithms for design space exploration of embedded computer systems

Multi-objective evolutionary algorithms (MOEAs) have received increasing interest in industry because they have proved to be powerful optimizers. Despite the great success achieved, however, MOEAs have also encountered many challenges in real-world applications. One of the main difficulties in applying MOEAs is the large number of fitness evaluations (objective calculations) that are often needed before an acceptable solution can be found. There are, in fact, several industrial situations in which fitness evaluations are computationally expensive and the time available is very short. In these applications efficient strategies to approximate the fitness function have to be adopted, looking for a trade-off between optimization performance and efficiency. This is the case in designing a complex embedded system, where it is necessary to define an optimal architecture in relation to certain performance indexes while respecting strict time-to-market constraints. This activity, known as design space exploration (DSE), is still a great challenge for the EDA (electronic design automation) community. One of the most important bottlenecks in the overall design flow of an embedded system is due to simulation. Simulation occurs at every phase of the design flow and is used to evaluate a system which is a candidate for implementation. In this paper we focus on system level design, proposing an extensive comparison of the state-of-the-art of MOEA approaches with an approach based on fuzzy approximation to speed up the evaluation of a candidate system configuration. The comparison is performed in a real case study: optimization of the performance and power dissipation of embedded architectures based on a Very Long Instruction Word (VLIW) microprocessor in a mobile multimedia application domain. The results of the comparison demonstrate that the fuzzy approach outperforms in terms of both performance and efficiency the state of the art in MOEA strategies applied to DSE of a parameterized embedded system.     

Deadlock free routing algorithms for irregular mesh topology NoC systems with rectangular regions

The simplicity of regular mesh topology Network on Chip (NoC) architecture leads to reductions in design time and manufacturing cost. A weakness of the regular shaped architecture is its inability to efficiently support cores of different sizes. A proposed way in literature to deal with this is to utilize the region concept, which helps to accommodate cores larger than the tile size in mesh topology NoC architectures. Region concept offers many new opportunities for NoC design, as well as provides new design issues and challenges. One of the most important among these is the design of an efficient deadlock free routing algorithm. Available adaptive routing algorithms developed for regular mesh topology cannot ensure freedom from deadlocks. In this paper, we list and discuss many new design issues which need to be handled for designing NoC systems incorporating cores larger than the tile size. We also present and compare two deadlock free routing algorithms for mesh topology NoC with regions. The idea of the first algorithm is borrowed from the area of fault tolerant networks, where a network topology is rendered irregular due to faults in routers or links, and is adapted for the new context. We compare this with an algorithm designed using a methodology for design of application specific routing algorithms for communication networks. The application specific routing algorithm tries to maximize adaptivity by using static and dynamic communication requirements of the application. Our study shows that the application specific routing algorithm not only provides much higher adaptivity, but also superior performance as compared to the other algorithm in all traffic cases. But this higher performance for the second algorithm comes at a higher area cost for implementing network routers.     

MATTER: A tool for generating end-to-end IoT test scripts

Software Quality Journal - In the last few years, Internet of Things (IoT) systems have drastically increased their relevance in many fundamental sectors. For this reason, assuring their quality is...     

Introducing QoS awareness in distributed programming: QTcl

A number of distributed applications require communication services with quality of service (QoS) guarantees. Building global‐scale distributed systems with predictable properties is one of the great challenges for computer systems engineering in the new century. Work undertaken within the Internet Engineering Task Force has led to the definition of novel architectural models for the Internet with QoS support. According to these models, the network has to be appropriately configured in order to provide applications with the required performance guarantees. In next‐generation networks, enabling applications to interact with the underlying QoS services is of primary importance. Hence, several special‐purpose application programming interfaces (APIs) have been defined to let applications negotiate QoS parameters across QoS‐capable networks. However, so far, none of these APIs are available in different operating environments. We believe that such features should be embedded in programming environments for distributed applications. In this work we present how we included QoS control features in Tcl, a programming language that has been widely adopted for the development of distributed multimedia applications. Our work has led to the implementation of QTcl, an extended Tcl interpreter that provides programmers with a new set of primitives, in full compliance with the standard SCRAPI programming interface for the RSVP protocol. QTcl in highly portable, in that it enables standard QoS negotiation to be performed in a seamless fashion on the most common operating systems. Copyright © 2003 John Wiley & Sons, Ltd.     

Product interface design: A participatory approach based on virtual reality

The usability of the user interface is a key aspect for the success of several industrial products. This assumption has led to the introduction of numerous design methodologies addressed to evaluate the user-friendliness of industrial products. Most of these methodologies follow the participatory design approach to involve the user in the design process. Virtual Reality is a valid tool to support Participatory Design, because it facilitates the collaboration among designers and users.The present study aims to evaluate the feasibility and the efficacy of an innovative Participatory Design approach where Virtual Reality plays a ‘double role’: a tool to evaluate the usability of the virtual product interface, and a communication channel that allows users to be directly involved in the design process as co-designers.In order to achieve these goals, we conducted three experiments: the purpose of the first experiment is to determine the influence of the virtual interface on the usability evaluation by comparing “user–real product” interaction and “user–virtual product” interaction. Subsequently, we tested the effectiveness of our approach with two experiments involving users (directly or through their participation in a focus group) in the redesign of a product user interface. The experiments were conducted with two typologies of consumer appliances: a microwave oven and a washing machine.     

Virtual agent multimodal mimicry of humans

This work is about multimodal and expressive synthesis on virtual agents, based on the analysis of actions performed by human users. As input we consider the image sequence of the recorded human behavior. Computer vision and image processing techniques are incorporated in order to detect cues needed for expressivity features extraction. The multimodality of the approach lies in the fact that both facial and gestural aspects of the user’s behavior are analyzed and processed. The mimicry consists of perception, interpretation, planning and animation of the expressions shown by the human, resulting not in an exact duplicate rather than an expressive model of the user’s original behavior.     

Efficient analysis and experimental verification of substrate‐integrated slab waveguides for wideband microwave applications

This article presents a substrate integrated waveguide, named the substrate‐integrated slab waveguide (SISW), which exhibits a wide operation bandwidth. It consists of an integrated rectangular waveguide filled with a periodically perforated dielectric medium. An efficient procedure has been developed for the calculation of the dispersion diagram of SISWs, based on the Floquet theorem, in conjunction with the segmentation technique and the boundary‐integral–resonant‐mode‐expansion (BI‐RME) method. Numerical and experimental results confirm the performance of these waveguides and the efficiency of the analysis method. © 2005 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2005.     

Discovering invariants via simple component analysis

We propose a new technique combining dynamic and static analysis of programs to find linear invariants. We use a statistical tool, called simple component analysis, to analyze partial execution traces of a given program. We get a new coordinate system in the vector space of program variables, which is used to specialize numerical abstract domains. As an application, we instantiate our technique to interval analysis of simple imperative programs and show some experimental evaluations.