| 1. |
- Campeanu, Gabriel, 1982-
(författare)
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GPU Support for Component-based Development of Embedded Systems
- 2018
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- One pressing challenge of many modern embedded systems is to successfully deal with the considerable amount of data that originates from the interaction with the environment. A recent solution comes from the use of GPUs. Equipped with a parallel execution model, the GPU excels in parallel processing applications, providing an improved performance compared to the CPU.Another trend in the embedded systems domain is the use of component-based development. This software engineering paradigm that promotes construction of applications through the composition of software components, has been successfully used in the development of embedded systems. However, the existing approaches provide no specific support to develop embedded systems with GPUs. As a result, components with GPU capability need to encapsulate all the required GPU information in order to be successfully executed by the GPU. This leads to component specialization to specific platforms, hence drastically impeding component reusability.Our main goal is to facilitate component-based development of embedded systems with GPUs. We introduce the concept of flexible component which increases the flexibility to design embedded systems with GPUs, by allowing the system developer to decided where to place the component, i.e., either on the CPU or GPU. Furthermore, we provide means to automatically generate the required information for flexible components corresponding to their hardware placement, and to improve component communication. Through the introduced support, components with GPU capability are platform-independent, being capable to be executed on a large variety of hardware (i.e., platforms with different GPU characteristics). Furthermore, an optimization step is introduced, which groups connected flexible components into single entities that behave as regular components. Dealing with components that can be executed either by the CPU or GPU, we also introduce an allocation optimization method. The proposed solution, implemented using a mathematical solver, offers alternative options in optimizing particular system goals (e.g., memory and energy usage).
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| 2. |
- Behere, Sagar, 1981-
(författare)
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Architecting Autonomous Automotive Systems : With an emphasis on Cooperative Driving
- 2013
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The increasing usage of electronics and software in a modern automobile enables realization of many advanced features. One such feature is autonomous driving. Autonomous driving means that a human driver’s intervention is not required to drive the automobile; rather, theautomobile is capable of driving itself. Achieving automobile autonomyrequires research in several areas, one of which is the area of automotive electrical/electronics (E/E) architectures. These architectures deal with the design of the computer hardware and software present inside various subsystems of the vehicle, with particular attention to their interaction and modularization. The aim of this thesis is to investigate how automotive E/E architectures should be designed so that 1) it ispossible to realize autonomous features and 2) a smooth transition canbe made from existing E/E architectures, which have no explicit support for autonomy, to future E/E architectures that are explicitly designed for autonomy.The thesis begins its investigation by considering the specific problem of creating autonomous behavior under cooperative driving condi-tions. Cooperative driving conditions are those where continuous wireless communication exists between a vehicle and its surroundings, which consist of the local road infrastructure as well as the other vehicles in the vicinity. In this work, we define an original reference architecture for cooperative driving. The reference architecture demonstrates how a subsystem with specific autonomy features can be plugged into an existing E/E architecture, in order to realize autonomous driving capabilities. Two salient features of the reference architecture are that it isminimally invasive and that it does not dictate specific implementation technologies. The reference architecture has been instantiated on two separate occasions and is the main contribution of this thesis. Another contribution of this thesis is a novel approach to the design of general, autonomous, embedded systems architectures. The approach introduces an artificial consciousness within the architecture, that understands the overall purpose of the system and also how the different existing subsystems should work together in order to meet that purpose.This approach can enable progressive autonomy in existing embedded systems architectures, over successive design iterations.
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| 3. |
- Bozhinoski, Darko, et al.
(författare)
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Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective
- 2019
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Ingår i: Journal of Systems and Software. - : Elsevier BV. - 0164-1212. ; 151:1, s. 150-179
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Tidskriftsartikel (refereegranskat)abstract
- Robotic research is making huge progress. However, existing solutions are facing a number of challenges preventing them from being used in our everyday tasks: (i) robots operate in unknown environments, (ii) robots collaborate with each other and even with humans, and (iii) robots shall never injure people or create damages. Researchers are targeting those challenges from various perspectives, producing a fragmented research landscape. We aim at providing a comprehensive and replicable picture of the state of the art from a software engineering perspective on existing solutions aiming at managing safety for mobile robotic systems. We apply the systematic mapping methodology on an initial set of 1274 potentially relevant research papers, we selected 58 primary studies and analyzed them according to a systematically-defined classification framework. This work contributes with (i) a classification framework for methods or techniques for managing safety when dealing with the software of mobile robotic systems (MSRs), (ii) a map of current software methods or techniques for software safety for MRSs, (iii) an elaboration on emerging challenges and implications for future research, and (iv) a replication package for independent replication and verification of this study. Our results confirm that generally existing solutions are not yet ready to be used in everyday life. There is the need of turn-key solutions ready to deal with all the challenges mentioned above.
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| 4. |
- Petersen, Kai, et al.
(författare)
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Choosing Component Origins for Software Intensive Systems: In-House, COTS, OSS or Outsourcing?-A Case Survey
- 2018
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Ingår i: IEEE Transactions on Software Engineering. - : IEEE Computer Society. - 0098-5589 .- 1939-3520. ; 44:3, s. 237-261
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Tidskriftsartikel (refereegranskat)abstract
- The choice of which software component to use influences the success of a software system. Only a few empirical studies investigate how the choice of components is conducted in industrial practice. This is important to understand to tailor research solutions to the needs of the industry. Existing studies focus on the choice for off-the-shelf (OTS) components. It is, however, also important to understand the implications of the choice of alternative component sourcing options (CSOs), such as outsourcing versus the use of OTS. Previous research has shown that the choice has major implications on the development process as well as on the ability to evolve the system. The objective of this study is to explore how decision making took place in industry to choose among CSOs. Overall, 22 industrial cases have been studied through a case survey. The results show that the solutions specifically for CSO decisions are deterministic and based on optimization approaches. The non-deterministic solutions proposed for architectural group decision making appear to suit the CSO decision making in industry better. Interestingly, the final decision was perceived negatively in nine cases and positively in seven cases, while in the remaining cases it was perceived as neither positive nor negative.
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| 5. |
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| 6. |
- Giaimo, Federico, 1989, et al.
(författare)
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Improving Bandwidth Efficiency with Self-Adaptation for Data Marshalling on the Example of a Self-Driving Miniature Car
- 2015
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Ingår i: Proceedings of the 2015 European Conference on Software Architecture Workshops Article No. 21. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450333931
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Konferensbidrag (refereegranskat)abstract
- Publish/subscribe communication is a common architectural design pattern in component-based software systems used in many of today’s cyber-physical systems to exchange information between distributed software components. These systems typically deal with an increased number of data transfers, with a risk of lacking resources. Our recent domain analysis for a lane-following algorithm of a self-driving miniature car unveiled that the actual “information increment” between two subsequently sent packets is often small. Such scenario enables possibilities for a more efficient data exchange by avoiding redundant and/or unnecessary information transfer. In this paper, we propose and evaluate our concept for “self-adaptive data marshalling” that transparently adapts data types in messages to be exchanged by analyzing the actual information increment. The approach could reduce the bandwidth usage by more than 50% in comparison to the current approach, and by approximately 33% compared to the use of the general-purpose compression library zlib.
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| 7. |
- Sapienza, G., et al.
(författare)
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System Level Partitioning for Embedded Systems
- 2017
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Ingår i: Proceedings International Computer Software and Applications Conference. - 0730-3157. - 9781538603673 ; 2, s. 597-602
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Konferensbidrag (refereegranskat)abstract
- Platforms with different computation resource, e.g. CPUs and FPGAs, become one of the first choices to deploy performance-requiring embedded applications. On this technology, functionalities can be implemented either as hardware (HW) or software (SW) components. Here, we extend the MultiPar methodology to support the selection of optimal partitioning solutions with respect to system properties. We show the feasibility of the proposed methodology and validate the composition rules for properties used in the partitioning decision process.
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| 8. |
- Sica de Andrade, Hugo, 1989, et al.
(författare)
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Refactoring Software in the Automotive Domain for Execution on Heterogeneous Platforms
- 2020
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Ingår i: Proceedings - 2020 IEEE 44th Annual Computers, Software, and Applications Conference, COMPSAC 2020. ; , s. 1534-1541
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Konferensbidrag (refereegranskat)abstract
- The most important way to achieve higher performance in computer systems is through heterogeneous computing, i.e., by adopting hardware platforms containing more than one type of processor, such as CPUs, GPUs, and FPGAs. Several types of algorithms can be executed significantly faster on a heterogeneous platform. However, migrating CPU-executable software to other types of execution platforms poses a number of challenges to software engineering. Significant efforts are required in such type of migration, particularly for re-architecting and re-implementing the software. Further, optimizing it in terms of performance and other runtime properties can be very challenging, making the process complex, expensive, and errorprone. Therefore, a systematic approach based on explicit and justified architectural decisions is needed for a successful refactoring process from a homogeneous to a heterogeneous platform. In this paper, we propose a decision framework that supports engineers when refactoring software systems to accommodate heterogeneous platforms. It includes the assessment of important factors in order to minimize the risk of recurrent problems in the process. Through a set of questions, practitioners are able to formulate answers that will help in making appropriate architectural decisions to accommodate heterogeneous platforms. The contents of the framework have been developed and evolved based on discussions with architects and developers in the automotive domain.
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| 9. |
- Sica de Andrade, Hugo, 1989, et al.
(författare)
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Software Challenges in Heterogeneous Computing: A Multiple Case Study in Industry
- 2019
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Ingår i: Proceedings - 45th Euromicro Conference on Software Engineering and Advanced Applications, SEAA 2019. ; , s. 148-155
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Konferensbidrag (refereegranskat)abstract
- One way to improve the performance of embedded systems is through heterogeneous platforms, i.e., using hardware containing more than one type of processor, like CPU + GPU or CPU + FPGA. This approach has shown improved performance, particularly in the domain of artificial intelligence, in which computationally demanding models must be trained and executed. However, these computational environments pose various challenges to software engineering, since applications must be designed and developed differently while accounting for target hardware architectures that are inherently different. Companies interested in migrating to heterogeneous platforms must be aware of the changes to the software development processes that are required to accommodate such solution. In this paper, we conducted a multiple case study that aims to discover the challenges and common practices when developing software for heterogeneous platforms in industrial contexts. First, we organized semi-structured interviews with companies on the automotive, automation, and telecommunication domains. Then, we analyzed and structured the data in order to create a classification describing the software engineering challenges faced by companies using heterogeneous platforms. The companies involved in this study are in different stages of maturity concerning the use of heterogeneous platforms. Thus, the classification takes into consideration these levels to describe the challenges accordingly. © 2019 IEEE.
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| 10. |
- Sica de Andrade, Hugo, 1989, et al.
(författare)
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Software Deployment on Heterogeneous Platforms: A Systematic Mapping Study
- 2021
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Ingår i: IEEE Transactions on Software Engineering. - 0098-5589 .- 1939-3520. ; 47:8, s. 1683-1707
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Tidskriftsartikel (refereegranskat)abstract
- Context: Multiple types of processing units (e.g., CPUs, GPUs and FPGAs) can be used jointly to achieve better performance in computational systems. However, these units are built with fundamentally different characteristics and demand attention especially towards software deployment. Objective: The goal of this work is to summarize the state-of-the-art of software deployment on heterogeneous platforms. We provide an overview of the research area by searching for and categorizing relevant studies, as well as discussing gaps and trends of the field. We are interested in the main concerns (RQ1) and the approaches used (RQ2) when deploying software on heterogeneous platforms. Method: In order to achieve our goal, we performed a systematic mapping study, which refers to a method for reviewing literature with basis on predefined search strategies and a multi-step selection process. Results: We selected and analyzed 146 primary studies from multiple sources and found that the area of research is dominated by solution proposals. The majority of the studies discuss concerns about scheduling, the quality of the software, and its architecture. A large number of studies focuses on the problem of scheduling tasks and processes. We found approaches that are applied at different binding times (i.e., design time, runtime, orthogonal). Conclusion: The evaluation of the proposed solutions in an industrial context is missing. Also, the proposed methods have not been evaluated in development processes. Most of the methods address a particular concern, or a few concerns, while there is a lack of a holistic approach.
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