NDLI: On the Mitigation of MultiCore-Induced Behavioral Deviations of an Autonomous Ground Vehicle

Content Provider	IEEE Xplore Digital Library
Author	Sprinkle, J. Eames, B.
Copyright Year	2011
Abstract	Complex systems such as autonomous vehicles frequently utilize a distributed network of computers for sensing, control, and supervisory tasks. A common way to abstract the deployment of the computational nodes that implement the system's behavior is through the utilization of middleware, which treats each atomic processing element as a component. Multiple components may execute on a single node, and nodes are typically heterogeneous in their processing power. For component implementations that use an event-driven model of computation, however, significant behavioral deviations may occur when a single-core computational node is replaced with a multicore node, especially if that computational node is running more than one component. This paper discusses the observed behavioral deviations through a series of simulations with identical initial conditions, performed on various single core and multicore processing platforms. In addition to the empirical demonstration, the paper provides a technique to mitigate the behavioral deviations by inserting a time-triggered buffer between a key set of components, enforcing a loosely time-triggered execution even though the system is still defined through event-triggered components. This preserves existing legacy code, but provides a time-triggered execution.
Starting Page	159
Ending Page	168
File Size	6276826
Page Count	10
File Format	PDF
ISBN	9781457700651
e-ISBN	9780769543796
DOI	10.1109/ECBS.2011.29
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multicore processing Computational modeling Kernel Navigation Middleware Land vehicles model-based design Autonomous systems multicore component-based systems code reuse
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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