Matching Items (5)
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- All Subjects: Embedded computer systems
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Currently Java is making its way into the embedded systems and mobile devices like androids. The programs written in Java are compiled into machine independent binary class byte codes. A Java Virtual Machine (JVM) executes these classes. The Java platform additionally specifies the Java Native Interface (JNI). JNI allows Java code that runs within a JVM to interoperate with applications or libraries that are written in other languages and compiled to the host CPU ISA. JNI plays an important role in embedded system as it provides a mechanism to interact with libraries specific to the platform. This thesis addresses the overhead incurred in the JNI due to reflection and serialization when objects are accessed on android based mobile devices. It provides techniques to reduce this overhead. It also provides an API to access objects through its reference through pinning its memory location. The Android emulator was used to evaluate the performance of these techniques and we observed that there was 5 - 10 % performance gain in the new Java Native Interface.
ContributorsChandrian, Preetham (Author) / Lee, Yann-Hang (Thesis advisor) / Davulcu, Hasan (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2011
Description
Embedded Networked Systems (ENS) consist of various devices, which are embedded into physical objects (e.g., home appliances, vehicles, buidlings, people). With rapid advances in processing and networking technologies, these devices can be fully connected and pervasive in the environment. The devices can interact with the physical world, collaborate to share resources, and provide context-aware services. This dissertation focuses on collaboration in ENS to provide smart services. However, there are several challenges because the system must be - scalable to a huge number of devices; robust against noise, loss and failure; and secure despite communicating with strangers. To address these challenges, first, the dissertation focuses on designing a mobile gateway called Mobile Edge Computing Device (MECD) for Ubiquitous Sensor Networks (USN), a type of ENS. In order to reduce communication overhead with the server, an MECD is designed to provide local and distributed management of a network and data associated with a moving object (e.g., a person, car, pet). Furthermore, it supports collaboration with neighboring MECDs. The MECD is developed and tested for monitoring containers during shipment from Singapore to Taiwan and reachability to the remote server was a problem because of variance in connectivity (caused by high temperature variance) and high interference. The unreachability problem is addressed by using a mesh networking approach for collaboration of MECDs in sending data to a server. A hierarchical architecture is proposed in this regard to provide multi-level collaboration using dynamic mesh networks of MECDs at one layer. The mesh network is evaluated for an intelligent container scenario and results show complete connectivity with the server for temperature range from 25°C to 65°C. Finally, the authentication of mobile and pervasive devices in ENS for secure collaboration is investigated. This is a challenging problem because mutually unknown devices must be verified without knowledge of each other's identity. A self-organizing region-based authentication technique is proposed that uses environmental sound to autonomously verify if two devices are within the same region. The experimental results show sound could accurately authenticate devices within a small region.
ContributorsKim, Su-jin (Author) / Gupta, Sandeep K. S. (Thesis advisor) / Dasgupta, Partha (Committee member) / Davulcu, Hasan (Committee member) / Lee, Yann-Hang (Committee member) / Arizona State University (Publisher)
Created2010
Description
Most embedded applications are constructed with multiple threads to handle concurrent events. For optimization and debugging of the programs, dynamic program analysis is widely used to collect execution information while the program is running. Unfortunately, the non-deterministic behavior of multithreaded embedded software makes the dynamic analysis difficult. In addition, instrumentation overhead for gathering execution information may change the execution of a program, and lead to distorted analysis results, i.e., probe effect. This thesis presents a framework that tackles the non-determinism and probe effect incurred in dynamic analysis of embedded software. The thesis largely consists of three parts. First of all, we discusses a deterministic replay framework to provide reproducible execution. Once a program execution is recorded, software instrumentation can be safely applied during replay without probe effect. Second, a discussion of probe effect is presented and a simulation-based analysis is proposed to detect execution changes of a program caused by instrumentation overhead. The simulation-based analysis examines if the recording instrumentation changes the original program execution. Lastly, the thesis discusses data race detection algorithms that help to remove data races for correctness of the replay and the simulation-based analysis. The focus is to make the detection efficient for C/C++ programs, and to increase scalability of the detection on multi-core machines.
ContributorsSong, Young Wn (Author) / Lee, Yann-Hang (Thesis advisor) / Shrivastava, Aviral (Committee member) / Fainekos, Georgios (Committee member) / Lee, Joohyung (Committee member) / Arizona State University (Publisher)
Created2015
Description
Concurrency bugs are one of the most notorious software bugs and are very difficult to manifest. Significant work has been done on detection of atomicity violations bugs for high performance systems but there is not much work related to detect these bugs for embedded systems. Although criteria to claim existence of bugs remains same, approach changes a bit for embedded systems. The main focus of this research is to develop a systemic methodology to address the issue from embedded systems perspective. A framework is developed which predicts the access interleaving patterns that may violate atomicity using memory references of shared variables and provides support to force and analyze these schedules for any output change, system fault or change in execution path.
ContributorsPatel, Jay (Author) / Lee, Yann-Hang (Thesis advisor) / Ren, Fengbo (Committee member) / Srivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2016