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Design and Evaluation of an Embedded Real-time Micro-kernelSingh, Kuljeet 26 November 2002 (has links)
This thesis presents the design and evaluation of an operating system kernel specially designed for dataflow software. Dataflow is a style of software architecture that is well suited for control and "signal flow" applications. This architecture involves many small processes and lots of inter-process communication, which impose too much overhead on traditional RTOSes. This thesis describes design and implementation of the Dataflow Architecture Real-time Kernel (DARK). DARK is a reconfigurable, multithreaded and preemptive operating system kernel that introduces a special data-driven scheduling strategy for dataflow applications. It uses the underlying hardware for high-speed context switching between the kernel and applications, which is five times faster than the ordinary context switch. The features of the kernel can be configured according to performance requirements without change to the applications. Along with the performance evaluation of DARK, the performance comparison results of DARK with two commercial RTOSes: MicroC/OS-II and Analog Devices VDK++ are also provided. / Master of Science
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High Performance Inter-kernel Communication and Networking in a Replicated-kernel Operating SystemAnsary, B M Saif 20 January 2016 (has links)
Modern computer hardware platforms are moving towards high core-count and heterogeneous Instruction Set Architecture (ISA) processors to achieve improved performance as single core performance has reached its performance limit. These trends put the current monolithic SMP operating system (OS) under scrutiny in terms of scalability and portability. Proper pairing of computing workloads with computing resources has become increasingly arduous with traditional software architecture.
One of the most promising emerging operating system architectures is the Multi-kernel. Multi-kernels not only address scalability issues, but also inherently support heterogeneity. Furthermore, provide an easy way to properly map computing workloads to the correct type of processing resources in presence of heterogeneity. Multi-kernels do so by partitioning the resources and running independent kernel instances and co-operating amongst themselves to present a unified view of the system to the application. Popcorn is one the most prominent multi-kernels today, which is unique in the sense that it runs multiple Linux instances on different cores or group of cores, and provides a unified view of the system i.e., Single System Image (SSI).
This thesis presents four contributions. First, it introduces a filesystem for Popcorn, which is a vital part to provide a SSI. Popcorn supports thread/process migration that requires migration of file descriptors which is not provided by traditional filesystems as well as popular distributed file systems, this work proposes a scalable messaging based file descriptor migration and consistency protocol for Popcorn.
Second, multi-kernel OSs rely heavily on a fast low latency messaging layer to be scalable. Messaging is even more important in heterogeneous systems where different types of cores are on different islands with no shared memory. Thus, another contribution proposes a fast-low latency messaging layer to enable communication among heterogeneous processor islands for Heterogeneous Popcorn.
With advances in networking technology, newest Ethernet technologies are able to support up to 40 Gbps bandwidth, but due to scalability issues in monolithic kernels, the number of connections served per second does not scale with this increase in speed.Therefore, the third and fourth contributions try to address this problem with Snap Bean, a virtual network device and Angel, an opportunistic load balancer for Popcorn's network system.
With the messaging layer Popcorn gets over 30% performance benefit over OpenCL and Intel Offloading technique (LEO). And with NetPopcorn we achieve over 7 to 8 times better performance over vanilla Linux and 2 to 5 times over state-of-the-art Affinity Accept. / Master of Science
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Evaluating the Perceived Overhead Imposed by Object-Oriented Programming in a Real-time Embedded SystemBhakthavatsalam, Sumithra 16 June 2003 (has links)
This thesis presents the design and evaluation of an object-oriented (OO) operating system kernel for real-time embedded systems based on dataflow architecture. Dataflow is a software architecture that is well suited to applications that involve signal flows and value transformations. Typically, these systems comprise numerous processes with heavy inter-process communications. The dataflow style has been adopted for the control software for PEBB (Power Electronic Building Block) systems by the Center for Power Electronic Systems (CPES), Virginia Tech., which is involved in a research effort to modularize and standardize power electronic components. The goal of our research is to design and implement an efficient object-oriented kernel for the PEBB system and compare its performance vis-Ã -vis that of a non-OO kernel. It presents strategies for efficient OO design and a discussion of how OO performance issues can be ameliorated. We conclude the thesis with an evaluation of the advantages gained by using the OO paradigm both from the standpoint of the classically cited advantages of OO programming and other crucial aspects. / Master of Science
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Operating System Design and Implementation for Single-Chip cc-NUMA Many-Core / Conception et réalisation d’un système d’exploitation pour des processeurs many-coresAlmaless, Ghassan 27 February 2014 (has links)
De nos jours, des processeurs à mémoire partagée cohérente ayant jusqu’à 100 coresintégrés sur la même puce sont une réalité et des processeurs many-cores ayant plusieurs centaines, voire, un millier de cores sont à prévoir prochainement.Dans ces architectures, la question de la localité du trafic lié aux miss decaches L1 (data, instruction et TLB) est primordiale à la fois pour passer àl’échelle et pour réduire la consommation électrique (énergie consommée par bittransféré). Notre thèse est que : (i) la gestion de la localité des accès mémoiredoit être prise en compte au niveau du noyau du système d’exploitation et elle doitêtre effectuée d’une manière transparente aux applications utilisateur; et (ii) les noyaux monolithiques actuels sont incapables de renforcer la localité des accès mémoire des threads d’une même application parallèle, car la notion de threadsdans ces noyaux est intrinsèquement inadaptée pour les processeurs many-cores.Par conséquent, nous pensons que la démarche suivie jusqu’à présent pour faireévoluer les noyaux monolithiques n’est pas suffisante et qu’il est impératif demettre la question de la localité des accès mémoire au centre de cette évolution.Pour prouver notre thèse, nous avons conçu et réalisé ALMOS (Advanced Locality Management Operating System), un système d’exploitation expérimental à base de noyau monolithique distribué. ALMOS dispose d’un nouveau concept de thread, nommé Processus Hybrides. Il permet à son noyau de renforcer, d’une manière transparente, la localité des accès mémoire liés à l'exécution de chaque thread. La gestion des ressources (cores et mémoires physiques) dans le noyau d’ALMOS est distribuée renforçant la localité des accès mémoire lors de la réalisation des services systèmes. La prise de décision concernant l’allocation mémoire, le placement des tâches et l’équilibrage de charge dans le noyau d’ALMOS est décentralisée, multi-critères et sans prise de verrou. Elle repose sur une infrastructure distribuée coordonnant d’une manière scalable l’accès aux ressources.En utilisant le prototype virtuel précis au cycle et au bit près du processeur many-core TSAR, nous avons expérimentalement démontré que : (i) les performances(scalabilité et temps d’exécution) du schéma d'ordonnancement distribué du noyaud’ALMOS sur 256 cores dépassent celles des noyaux monolithiques existants; (ii) la réalisation répartie de l’appel système fork permet de passer à l’échellece service système sur 512 cores; (iii) le coût de la mise à jour de l’infrastructure distribué de prise de décisions du noyau d’ALMOS ne nécessiteque 0.05% de la puissance de calcul totale du processeur TSAR; (iv) les performances(scalabilité, temps d’exécution et trafic distant) de la stratégie d’affinitémémoire du noyau d’ALMOS, nommé Auto-Next-Touch, dépassent celles des deuxstratégies First-Touch et Interleave sur 64 cores; (v) le modèle de processushybrides d’ALMOS permet de passer à l’échelle deux applications hautementmulti-threads existantes sur 256 cores et une troisième sur 1024 cores; et enfin (vi) le couple ALMOS/TSAR (64 cores) offre systématiquement une bien meilleure scalabilité que le couple Linux/AMD (Interlagos 64 cores) pour 8 applications de classe HPC et traitement d’images. / Nowadays, single-chip cache-coherent many-core processors having up to 100 coresare a reality. Many-cores with hundreds or even a thousand of cores are planned in the near future. In theses architectures, the question of the locality of L1 cache-miss related traffic (data, instruction and TLB) is essential for both scalability and power consumption (energy by moved bit). Our thesis is that: (i) handling the locality of memory accesses should be done at kernel level of an operating system in a transparent manner to user applications; and (ii) the current monolithic kernels are not able to enforce the locality of memory accesses of multi-threaded applications, because the concept of thread in these kernels is inherently unsuitable for many-core processors. Therefore, we believe that the evolution approach of monolithic kernels undertaken until now is insufficient and it is imperative to put the question of the locality of memory accesses in the heart of this evolution.To prove our thesis, we designed and implemented ALMOS (Advanced Locality Management Operating System), an experimental operating system based on a distributed monolithic kernel. ALMOS has a new concept of thread, called Hybrid Process. It allows its kernel to enforce the locality of memory accesses of each thread. The resources (cores and physical memory) management in ALMOS's kernel is distributed enforcing the locality of memory accesses when performing system services. Decision making regarding memory allocation, tasks placement and load balancing in ALMOS's kernel is decentralized, multi-criteria and without locking. It is based on a distributed infrastructure coordinating, in a scalable manner, the accesses to resources.Using the cycle accurate and bit accurate virtual prototype of TSAR many-core processor, we experimentally demonstrated that: (i) performance (scalability and execution time) on 256 cores of the distributed scheduling scheme of ALMOS's kernel outperform those of the shared scheduling scheme found in existing monolithic kernels; (ii) distributed realization of the fork system call enables this system service to scale on 512 cores; (iii) updating the distrusted decision-making infrastructure of ALMOS's kernel costs just 0.05 % of the total computing power of TSAR processor; (iv) performance (scalability, execution time and remote traffic) of memory affinity strategy of ALMOS's kernel, called Auto-Next-Touch, outperform those of two existing strategies First-Touch and Interleave on 64 cores; (v) concept of Hybrid Process of ALMOS's kernel scales up two existing highly multi-threads applications on 256 cores and a third one on 1024 cores; and finally (vi) the couple ALMOS/TSAR (64 cores) gives systematically much better scalability than the couple Linux/AMD (Interlagos 64 cores) for 8 multi-threads applications belonging to HPC and image processing domains.
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3DIOS1 – Konzept eines Internet-Operating-SystemsColtzau, Hauke, Unger, Herwig 14 May 2014 (has links) (PDF)
Es wird ein Konzept für ein zukünftiges Betriebssystem vorgestellt, das den Anforderungen und Möglichkeiten der zunehmenden Vernetzung von Rechnern und anderen Endgeräten Rechnung trägt. Es erweitert den bekannten Grundgedanken, mit Hilfe von Peer-to-Peer Technologien explorierbare virtuelle 3D-Landschaften zu erzeugen, ohne dabei von einem zentralen Anbieter abhängig zu sein. Es soll Nutzern die Möglichkeit bieten, das Serviceangebot im Internet ohne Einschränkungen zu durchsuchen und dabei anhand eigener semantischer Kriterien die für sie interessanten Services hervorzuheben. Über Parameter der Darstellung sollen Netzwerkeigenschaften, die für den Nutzer von Belang sein können, intuitiv erfassbar sein. Das System beinhaltet darüber hinaus Möglichkeiten zur Last- und Verkehrsbalancierung. In diesem Artikel werden Anforderungen an die zu Grunde liegende Infrastruktur und die grafische Benutzeroberfläche definiert, erste Skizzen des zukünftigen Systems vorgestellt und die weiteren Schritte bis zur Verwirklichung eines Prototyps diskutiert.
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3DIOS1 – Konzept eines Internet-Operating-SystemsColtzau, Hauke, Unger, Herwig January 2009 (has links)
Es wird ein Konzept für ein zukünftiges Betriebssystem vorgestellt, das den Anforderungen und Möglichkeiten der zunehmenden Vernetzung von Rechnern und anderen Endgeräten Rechnung trägt. Es erweitert den bekannten Grundgedanken, mit Hilfe von Peer-to-Peer Technologien explorierbare virtuelle 3D-Landschaften zu erzeugen, ohne dabei von einem zentralen Anbieter abhängig zu sein. Es soll Nutzern die Möglichkeit bieten, das Serviceangebot im Internet ohne Einschränkungen zu durchsuchen und dabei anhand eigener semantischer Kriterien die für sie interessanten Services hervorzuheben. Über Parameter der Darstellung sollen Netzwerkeigenschaften, die für den Nutzer von Belang sein können, intuitiv erfassbar sein. Das System beinhaltet darüber hinaus Möglichkeiten zur Last- und Verkehrsbalancierung. In diesem Artikel werden Anforderungen an die zu Grunde liegende Infrastruktur und die grafische Benutzeroberfläche definiert, erste Skizzen des zukünftigen Systems vorgestellt und die weiteren Schritte bis zur Verwirklichung eines Prototyps diskutiert.
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A high-level interface for a sailing vessel / Ett högnivå-gränssnitt till en segellfarkostWorkinn, Daniel January 2021 (has links)
Christiane is a 7 meter sailing vessel and a 1:30 scale model of Oceanbird, a wind powered car carrier planned to be launched by the year 2024. The model is used for design validation and to research control algorithms. However, the development of new algorithms is limited to the microcontrollers used, which are not able to run resource intense applications. Furthermore, there is no easy way for new computational nodes to interact with the vessels system. In this thesis, a high-level, easy to use, interface was proposed, designed and implemented. This was done by identifying the the requirements and limitations of the project and examining the system to find a suitable solution. The two biggest limitations found were that the solution had to include a single-board computer and that the implementation could not drastically alter the system architecture of the model. The implementation included a single-board computer being added on top of the models architecture which publishes all gathered sensor data and actuator commands on a robotics operating system interface. The interface was an immediate improvement to the usability of the vessel since it allows for graphical presentation of gathered data in real time. / Christiane är en 7 meter lång segellfarkost och en modell i skala 1:30 av Oceanbird, ett vinddrivet lastfartyg för fordon som är planerad att sjösättas år 2024. Modellen används för att validera designen samt för forskning kring kontrollalgoritmer. Utvecklingen av nya algoritmer är dessvärre begränsad till systemets mikrokroller, vilka inte klarar av att köra resursintensiva applikationer. Det finns inte heller något enkelt sätt för nya beräkningsnoder att interagera med båtens system. Denna rapport föreslår ett högnivå-gränssnitt till modellen som är enkelt att använda och presenterar en implementation av det som underlättar framtida forskning. Detta gjordes genom att först identifiera projektets krav och begränsningar samt genom att undersöka modellens system för att hitta en lämplig lösning. De två största funna begränsningarna var att lösningen var tvungen att inkludera en enkortsdator och att implementationen inte fick innebära några större förändringar av modellens system-arkitektur. Implementationen bestod av att en enkortsdator lades till ovanpå modellens arkitektur som publicerar all samlad sensordata och alla kommandon för ställdon på ett robotics operating system gränssnitt. Gränssnittet gav en direkt förbättring av fartygets användarvänlighet då det möjliggjorde grafisk presentation av den samlade datan i realtid.
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Digitaler Zwilling durch Verbindung von ROS-Kompatiblen Robotern mit Virtual-Reality zur Echtzeitvisualisierung von RoboterbewegungAnilkumar, Akhilraj 20 June 2024 (has links)
Die Verbindung von Robotern mit Virtual Reality (VR) zur Echtzeitvisualisierung stellt eine
erhebliche Programmierherausforderung dar. Dieser Vortrag zeigt einen vereinfachten Ansatz
unter Verwendung des Robot Operating System (ROS), einer Open-Source-Plattform, die diese
Aufgabe erleichtert. Durch den Einsatz von ROS kann der Programmieraufwand deutlich
reduzieren werden, indem vorhandene Pakete für eine nahtlose Integration von Robotern und VR
genutzt werden. In dieser Präsentation wird schrittweise erläutert, wie diese Verbindung realisiert
wird, was neue Möglichkeiten in der Visualisierung und Steuerung von Robotern mit minimalem
Programmieraufwand erschließt. Diese Methode ebnet den Weg für innovative Anwendungen in
Robotik und VR und bietet praktische Einblicke für Entwickler und Forscher. / Connecting robots with Virtual Reality (VR) for real-time visualization poses a significant
programming challenge. This presentation demonstrates a simplified approach using the Robot
Operating System (ROS), an open-source platform that facilitates this task. By utilizing ROS, the
programming effoit can be significantly reduced by leveraging existing packages for seamless
robot-VR integration. This presentation will explain step-by-step how this connection can be
realized, opening new possibilities in visualization and control of robots with minimal programming
effort. This method paves the way for innovative applications in robotics and VR, providing
practical insights for developers and researchers.
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THE REAL/STAR 2000: A HIGH PERFORMANCE MULTIPROCESSOR COMPUTER FOR TELEMETRY APPLICATIONSFurht, B., Gluch, D., Parker, J., Matthews, P., Joseph, D. 11 1900 (has links)
International Telemetering Conference Proceedings / November 04-07, 1991 / Riviera Hotel and Convention Center, Las Vegas, Nevada / In this paper we describe the design of the REAL/STAR 2000 system, a highperformance real-time computer for telemetry applications. The REAL/STAR 2000 is a symmetric, tightly-coupled multiprocessor, optimized for real-time processing. The system provides a high level of scalability and flexibility by supporting three configurations: single, dual, and quad processor configurations, based on Motorola 88100 RISC processors. The system runs the multiprocessor REAL/IX operating system, a real-time implementation of the AT&T UNIX System V. It compiles with BCS and OCS standards, meets the POSIX 1003.1 standard, and has the current functionality of the emerging POSIX 1003.4 real-time standard. The REAL/STAR 2000 promotes an open system approach to real-time computing by supporting major industry standards. Benchmark results are also presented in the paper.
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ADVANCED TELEMETRY PROCESSING SYSTEM (ATPS)Finegan, Brian H., Singer, Gary 10 1900 (has links)
International Telemetering Conference Proceedings / October 17-20, 1994 / Town & Country Hotel and Conference Center, San Diego, California / The Advanced Telemetry Processing System (ATPS) is the result of a joint
development project between Harris Corporation and Veda Systems, Incorporated.
The mission of the development team was to produce a high-performance,
cost-effective, supportable telemetry system; one that would utilize
commercial-off-the-shelf (COTS) hardware and software, thereby eliminating costly
customization typically required for range and telemetry applications. A critical
element in the 'cost-effective, supportable' equation was the ability to easily
incorporate system performance upgrades as well as future hardware and software
technology advancements.
The ATPS combines advanced hardware and software technology that includes a
high-speed, top-down data management environment; a mature man-machine
interface; a B1-level Trusted operating system and network; and stringent real-time
multiprocessing capabilities into a single, fully integrated, 'open' platform. In addition,
the system incorporates a unique direct memory transfer feature that allows incoming
data to pass directly into local memory space where it can be displayed and analyzed,
thereby reducing I/O bottleneck and freeing processors for other specialized tasks.
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