La plupart des systèmes critiques sont dits «temps-réel durs» puisqu'ils requièrent des garanties temporelle fortes. Ces systèmes sont de plus en plus complexes et les processeurs mono-coeurs traditionnels ne sont plus assez puissants. Les multi-coeurs et les pluri-coeurs sont des alternatives plus puissantes, cependant ils contiennent des ressources partagées. Les accès concurrents à ces ressources provoquent des interférences qui doivent être prises en compte puisqu'elles rendent les délais d'accès non prédictibles. Pour les pluri-coeur, le réseau sur puce (NoC) doit être configuré pour éviter les interblocages et garantir des pires temps de traversée précis. Le MPPA2 de Kalray est un pluri-coeur avec de bonnes propriétés temporelles.Les langages Synchrones flot de données tels que Lustre ou Scade sont largement utilisés dans l'industrie aéronautique. Les programmes sont des réseaux de noeuds de calcul communicants. Nous présentons une méthode pour extraire le parallélisme des programmes Synchrones. Nous générons du code pour déployer les tâches parallèles sur la puce et pour implémenter les communications en mémoire partagée ou à travers le NoC. Notre solution permet la traçabilité du code. Elle est basée sur un modèle d'exécution dirigé par le temps où chaque tâche a une date de début. L'ordonnancement est statique et minimise les interférences grâce à l'utilisation de bancs mémoire. Une borne de pire temps d'exécution (WCET) est calculée. Elle inclut les interférences mémoire et les pires temps de traversée NoC. Nous générons la configuration du processeur qui permet une allocation équitable des bandes passantes sur le NoC, la garantie de temps de traversées bornés et la synchronisation des horloges. Enfin, nous appliquons notre outils sur des exemples de programmes aéronautiques et un exemple synthétique utilisant 64 coeurs. / Most critical systems are subject to hard real-time requirements. These systems are more and more complex and the computational power of the predictable single-core processors is no longer sufficient. Multi- or many-core architectures are good alternatives but interferences on shared resources must be taken into account to avoid unpredictable timing effects. For many-core, the Network-on-Chip (NoC) must be configured such that deadlocks are avoided and a tight Worst Case Traversal Time (WCTT) of the communications can be computed. The Kalray MPPA2 is a many-core architecture with good timing properties.Dataflow Synchronous languages such as Lustre or Scade are widely used for avionics critical software. In these languages, programs are described by networks of computational nodes. We introduce a method to extract parallel tasks from synchronous programs. Then, we generate parallel code to deploy tasks on the chip and implement NoC and shared-memory communications. The generated code enables traceability. It is based on a time-triggered execution model which relies on a static schedule and minimizes the memory interferences thanks to usage of memory banks. The code enables the computation of a worst case execution time bound accounting for the memory interferences and the WCTT of NoC transmissions. We generate a configuration of the platform to enable a fair bandwidth attribution on the NoC, bounded transmissions through the NoC and clock synchronization. Finally, we apply this toolchain on avionic case studies and synthetic benchmarks running on 64 cores.

Approved for public release; distribution is unlimited / The Computer Aided Prototyping System (CAPS) and the Prototype System Description Language (PSDL) represent a pioneering effort in the field of software development. The implementation of CAPS will enable software engineers to automatically validate design specifications and functional requirements early in the design of a software system through the development and execution of a prototype of the system under construction. Execution of the prototype is controlled by an Execution Support System (ESS) within the framework of CAPS. One of the critical elements of the ESS is the Static Scheduler which extracts critical timing constraints and precedence information about operators from the PSDL source that describes the prototype. The Static Scheduler then uses this information to determine whether a feasible schedule can be built, and if it can, constructs the schedule for operator execution within the prototype. / http://archive.org/details/staticschedulerf00marl / Lieutenant Commander, United States Navy

En akutmottagning har till uppdrag att ta hand om personer som drabbas av sjukdom eller olycksfall som är allvarligt eller tidskritiskt. Akutmottagningen är olika alla andra verksamheter på sjukhuset då det inte finns en gräns för antalet patienter. När många söker sig till akutmottagningen är det svårt för akutsjuksköterskan att upprätthålla ett patientsäkert arbete och svårts juka barn kan försummas i väntrummet. Föräldrar söker ibland till akutmottagningen då de är oroliga för sitt barns hälsa trots att tillståndet för barnet inte är tidskritiskt. Med tidskritiska tillstånd menas här tillstånd som inte kan anstå och/eller där utebliven eller försenad vård och behandling kan äventyra patientens liv eller hälsa. Syftet med studien var att utforska tillgänglig litteratur gällande faktorer som påverkar föräldrars val av att söka akutmottagning med barn som inte lider av tidskänsliga sjukdomar och skador. En systematisk och integrerad litteraturstudie genomfördes för att svara på studiens syfte. Resultatet visar att föräldrar väljer att söka till akutmottagning med tillstånd som inte är tidskritiska eftersom de är oroliga för sina barn och har ett behov av att få sin oro stillad, de har en övertygelse om att deras barn behöver omedelbar vård, de förstår inte vad som orsakar sjukdomen hos barnet, de litar inte på primärvården samt så har de svårt att komma i kontakt med primärvården. Aktuell forskning visar att det är svårt för allmänheten att förstå skillnaden mellan tidskritiska och icke tidskritiska tillstånd. Föräldrar har en tendens till att tro att deras barn kommer få en bättre vård på akutmottagningen jämfört med andra vårdnivåer och ju närmare akutmottagningen de bor desto större är chansen att de väljer detta alternativ. / An emergency department is tasked with caring for people who suffer from an illness or accident that is serious or time-critical. It is different from all other sections at the hospital as there is no limit to the number of patients. When many people apply to the emergency department, it is difficult for the emergency nurse to maintain patient-safety work and seriously ill children can be missed in the waiting room. Parents apply to the emergency department when they are worried about their child's health even though the child's condition is not time-critical. Time-critical conditions here mean conditions that cannot be expected and/or where non-attendance or delayed care and treatment can endanger the patient's life or health. The purpose of the study was to explore the available literature regarding factors that influence parents' choice to seek emergency care with children who do not suffer from time-critical illnesses and injuries. Time-critical conditions here mean conditions that cannot be expected and/or where non-attendance or delayed care and treatment can endanger the patient's life or health. A systematic and integrated review was carried out to answer the purpose of the study. The result shows that parents choose the emergency department with conditions that are not time critical because they are worried about their children and have a need to have their worries allayed, they have a belief that their child needs immediate care, they do not understand what is causing the illness with the child, they do not trust primary care and they have difficulty getting to primary care. Current research shows that it is difficult for the parents to understand the difference between time-critical and non-time-critical conditions. Parents tend to believe that their child will receive better care in the emergency department compared to other levels of care, and the closer they live to the emergency department, the greater the chance that they will choose that option.

This dissertation discusses vision-based static obstacle avoidance for a fleet of nonholonomic robots tasked to arrive at a final destination simultaneously. Path generation for each vehicle is computed using a single polynomial function that incorporates the vehicle constraints on velocity and acceleration and satisfies boundary conditions by construction. Furthermore, the arrival criterion and a preliminary obstacle avoidance scheme is incorporated into the path generation. Each robot is equipped with an inertial measurement unit that provides measurements of the vehicle's position and velocity, and a monocular camera that detects obstacles. The obstacle avoidance algorithm deforms the vehicle's original path around at most one obstacle per vehicle in a direction that minimizes an obstacle avoidance potential function. Deconfliction of the vehicles during obstacle avoidance is achieved by imposing a separation condition at the path generation level. Two estimation schemes are applied to estimate the unknown obstacle parameters. The first is an existing method known in the literature as Identifier-Based Observer and the second is a recently-developed fast estimator. It is shown that the performance of the fast estimator and its effect on the obstacle avoidance algorithm can be arbitrarily improved by the appropriate choice of parameters as compared to the Identifier-Based Observer method. Coordination in time of all vehicles is completed in an outer loop which adjusts the desired velocity profile of each vehicle in order to meet the simultaneous arrival constraints. Simulation results illustrate the theoretical findings. / Ph. D.

Neste trabalho, nós investigamos o comportamento crítico dinâmico de três modelos estatísticos utilizando simulações Monte Carlo em tempos curtos. Inicialmente, estudamos os modelos tridimensionais de dupla-troca e de Heisenberg. O expoente dinâmico de persistência global, bem como o expoente z são estimados através de duas técnicas. Para obter o expoente de persistência global, aplicamos diretamente a lei de potência obtida para a probabilidade de persistência global e em seguida fizemos o colapso de uma função universal para duas redes de tamanhos diferentes. Para estimar o valor de z, nós usamos uma função mista que combina resultados de simulações realizadas com diferentes condições iniciais e o cumulante de Binder de quarta ordem dependente do tempo. O expoente dinâmico que governa o comportamento tipo lei de potência da magnetização inicial, é estimado através da correlação temporal da magnetização (modelos de dupla-troca e Heisenberg) e da aplicação direta de uma lei de potência (modelo de Heisenberg). Os expoentes estáticos da magnetização e comprimento de correlação são estimados seguindo o comportamento de escala do parâmetro de ordem e sua derivada, respectivamente. Os resultados confirmam que esses dois modelos pertencem à mesma classe de universalidade. Em seguida, alguns expoentes críticos dinâmicos e estáticos são estimados no ponto de bifurcação do modelo de spin com simetria Z(5) bidimensional. Neste ponto, o modelo apresenta dois parâmetros de ordem diferentes, cada um possuindo um conjunto diferente de índices críticos. Os valores dos expoentes críticos estáticos estão em boa concordância com os resultados exatos. Até onde sabemos, está é a primeira tentativa de se obter os expoentes críticos dinâmicos para os modelos de dupla troca, Heisenberg e para o modelo Z(5). / In this work, we investigate the dynamic critical behavior of three statistical models by using short-time Monte Carlo simulations. At first, we study the three-dimensional double-exchange and Heisenberg models. The global persistence exponent, as well as the exponent z are estimated through two techniques. The dynamical exponent of global persistence is obtained by using the straight application of the power law obtained for the global persistence probability and by following the scaling collapse of a universal function for two diferent lattice sizes. To estimate the value of z, we use a mixed function which combines results obtained from samples submitted to diferent initial configurations and the time dependent fourth-order Binder cumulant. The dynamical exponent which governs the power law behavior of the initial magnetization, is estimated through the time correlation of the magnetization (double-exchange and Heisenberg models) and through the straight application of a power law(Heisenberg model). The statical exponents of the magnetization and correlation length are estimated through the scaling behavior of the order parameter and its derivative, respectively. The results confirm which those models belong to the same universality class. Following, the dynamical exponents and the statical exponents are estimated at the bifurcation point of the two-dimensional Z(5)-symmetric spin model. In this point, the model presents two diferent order parameters, each one possessing a diferent set of critical indices. The values of the static critical exponents are in good agreement with the exact results. Our study is, to the best of our knowledge, the first attempt to obtain the dynamic critical exponents of the double-exchange, Heisenberg, and Z(5) models.

Les techniques formelles de la famille « vérification de modèles » (« model checking ») se heurtent au problème de l’explosion combinatoire. Ceci limite les perspectives d’exploitation dans des projets industriels. Ce problème est provoqué par la combinatoire dans la construction de l’espace des états possibles durant l’exécution des systèmes modélisés. Le nombre d’états pour des modèles de systèmes industriels réalistes dépasse régulièrement les capacités des ressources disponibles en calcul et stockage. Cette thèse défend l’idée qu’il est possible de réduire cette combinatoire en spécialisant les outils pour des familles de propriétés. Elle propose puis valide expérimentalement un ensemble de méthodes pour le développement de ce type d’outils en suivant une approche guidée par les propriétés appliquée au contexte temps réel. Il s’agit donc de construire des outils d’analyse performants pour des propriétés temps réel qui soient exploitables pour des modèles industriels de taille réaliste. Les langages considérés sont, d’une part UML étendu par le profil MARTE pour la modélisation par les utilisateurs, et d’autre part les réseaux de Petri temporisés comme support pour la vérification. Les propositions sont validées sur un cas d’étude industriel réaliste issu du monde avionique : l’étude de la latence et la fraicheur des données dans un système de gestion des alarmes exploitant les technologies d’Avionique Modulaire Intégrée. Ces propositions ont été mise en oeuvre comme une boite à outils qui intègre les cinq contributions suivantes: la définition de la sémantique d’exécution spécifiques aux propriétés temps réel pour les modèles d’architecture et de comportement spécifiés en UML/MARTE; la spécification des exigences temps réel en s’appuyant sur un ensemble de patrons de vérification atomiques dédiés aux propriété temps réel; une méthode itérative d’analyse à base d’observateurs pour des réseaux de Petri temporisés; des techniques de réduction de l’espace d’états spécifiques aux propriétés temps réel pour des Réseaux de Petri temporisés; une approche pour l’analyse des erreurs détectées par « vérification des modèles » en s’appuyant sur des idées inspirées de la « fouille de données » (« data mining »). / Automatic formal verification such as model checking faces the combinatorial explosion issue. This limits its application in indus- trial projects. This issue is caused by the explosion of the number of states during system’s execution , as it may easily exceed the amount of available computing or storage resources. This thesis designs and experiments a set of methods for the development of scalable verification based on the property-driven approach. We propose efficient approaches based on model checking to verify real-time requirements expressed in large scale UML-MARTE real-time system designs. We rely on the UML and its profile MARTE as the end-user modeling language, and on the Time Petri Net (TPN) as the verification language. The main contribution of this thesis is the design and implementation of a property-driven verification prototype toolset dedicated to real-time properties verification for UML-MARTE real-time software designs. We validate this toolset using an avionic use case and its user requirements. The whole prototype toolset includes five contributions: definition of real-time property specific execution semantics for UML-MARTE architecture and behavior models; specification of real- time requirements relying on a set of verification dedicated atomic real- time property patterns; real-time property specific observer-based model checking approach in TPN; real-time property specific state space reduction approach for TPN; and fault localization approach in model checking.

Neste trabalho, nós investigamos o comportamento crítico dinâmico de três modelos estatísticos utilizando simulações Monte Carlo em tempos curtos. Inicialmente, estudamos os modelos tridimensionais de dupla-troca e de Heisenberg. O expoente dinâmico de persistência global, bem como o expoente z são estimados através de duas técnicas. Para obter o expoente de persistência global, aplicamos diretamente a lei de potência obtida para a probabilidade de persistência global e em seguida fizemos o colapso de uma função universal para duas redes de tamanhos diferentes. Para estimar o valor de z, nós usamos uma função mista que combina resultados de simulações realizadas com diferentes condições iniciais e o cumulante de Binder de quarta ordem dependente do tempo. O expoente dinâmico que governa o comportamento tipo lei de potência da magnetização inicial, é estimado através da correlação temporal da magnetização (modelos de dupla-troca e Heisenberg) e da aplicação direta de uma lei de potência (modelo de Heisenberg). Os expoentes estáticos da magnetização e comprimento de correlação são estimados seguindo o comportamento de escala do parâmetro de ordem e sua derivada, respectivamente. Os resultados confirmam que esses dois modelos pertencem à mesma classe de universalidade. Em seguida, alguns expoentes críticos dinâmicos e estáticos são estimados no ponto de bifurcação do modelo de spin com simetria Z(5) bidimensional. Neste ponto, o modelo apresenta dois parâmetros de ordem diferentes, cada um possuindo um conjunto diferente de índices críticos. Os valores dos expoentes críticos estáticos estão em boa concordância com os resultados exatos. Até onde sabemos, está é a primeira tentativa de se obter os expoentes críticos dinâmicos para os modelos de dupla troca, Heisenberg e para o modelo Z(5). / In this work, we investigate the dynamic critical behavior of three statistical models by using short-time Monte Carlo simulations. At first, we study the three-dimensional double-exchange and Heisenberg models. The global persistence exponent, as well as the exponent z are estimated through two techniques. The dynamical exponent of global persistence is obtained by using the straight application of the power law obtained for the global persistence probability and by following the scaling collapse of a universal function for two diferent lattice sizes. To estimate the value of z, we use a mixed function which combines results obtained from samples submitted to diferent initial configurations and the time dependent fourth-order Binder cumulant. The dynamical exponent which governs the power law behavior of the initial magnetization, is estimated through the time correlation of the magnetization (double-exchange and Heisenberg models) and through the straight application of a power law(Heisenberg model). The statical exponents of the magnetization and correlation length are estimated through the scaling behavior of the order parameter and its derivative, respectively. The results confirm which those models belong to the same universality class. Following, the dynamical exponents and the statical exponents are estimated at the bifurcation point of the two-dimensional Z(5)-symmetric spin model. In this point, the model presents two diferent order parameters, each one possessing a diferent set of critical indices. The values of the static critical exponents are in good agreement with the exact results. Our study is, to the best of our knowledge, the first attempt to obtain the dynamic critical exponents of the double-exchange, Heisenberg, and Z(5) models.

Emulering och simulering omfattar ett brett spektrum av varierande tekniker på olika nivåer, som involverar både mjuk-, och hårdvaruparadigm. Denna rapport är utformad utifrån ett arkitekturellt perspektiv och ämnar att återge en kortfattad studie av ämnen relaterade till design av en generell referensarkitektur för emulatorer. Särskilt fokus har lagts på sammansättningen av de olika komponenter som vanligtvis utgör en emulator, och dessa ställs sedan i jämförelse med den arkitektur, skapad av Von-Neumann, som idag används i den moderna datorn. Målet är att identifiera de mest lämpade arkitekturella strategierna för att kunna uppnå kvalitetskrav som flexibilitet, generalitet och funktionell lämplighet. Vid skapandet av en prototyp görs en avvägning mellan olika tekniker, vilket resulterar i en hybrid mellan tidskritiska och händelsedrivna paradigm. Vidare jämförs befintliga arkitekturer där modularitet mellan komponenter visar sig vara en återkommande egenskap inom samtliga designer. Det viktigaste resultatet vi kom fram till är att en tillståndsmaskin ofta har en betydande roll inom händelsedrivna system. För den prototyp som designats resulterade detta i en tillståndsmaskin med svagt kopplade deltillstånd som tillsammans leder till aktivering av olika huvudtillstånd, något som går i linje med icke-Von Neumann-alternativ. / The field of emulation and simulation comprises of a broad spectrum of various levels and techniques that spans over both software and hardware paradigms. Written, from mainly an architectural point of view, this paper offers a brief study on sporadic topics related to this broad field which in a wholeness provides relevant and useful insights for the design of a general reference architecture for emulators. Special focus lies on the different components that an emulator comprises of and a parallel is drawn to the physical architecture of the modern computing machine with its well-known Von-Neumann architecture. The goal is to identify best architectural strategies for fulfilling flexibility, generality and functional applicability quality requirements. A narrowed down scope is however kept in mind for a prototype model that will be a hybrid consisting of the event-driven and time-critical paradigms. Different real world architectural examples are compared and modularity with regard to components is identified as a recurrent characteristic in all designs. One of the important findings we made is the inclusion of a state machine component, an important part which allows the event-driven system to function properly. This is with a weak coupled setup of various substates that together activate mainstates, which is in line with alterior thinking to Von Neumann-based systems.

Examensarbetet genomfördes tillsammans med företaget Rol Ergo. Syftet med studien var att analysera Zigbee 3.0 och Bluetooth Low Energy 5.2 och deras lämplighet i tidskritiska system genom att studera latensen och förhållandet mellan signalstyrkan och avståndet mellan de två kommunikationsprodukter. Datainsamlingen genomfördes med en experimentell studie och utifrån kunskap som framskaffats har ett visst antal bestämda experiment utförts för att svara på frågeställningarna som ställs.  Datainsamlingen visar att både maxlatensen och typiska latensen hos Zigbee är lägre än maxlatens och typiska latens för Bluetooth Low Energy. Datainsamlingen för signalstyrkan visar att Bluetooth Low Energys signalstyrka blir mer påverkad av avståndet mellan kommunikationsprodukterna än vad Zigbees blir. Det visar även att den optimala förhållande mellan signalstyrkan och avståndet hos Zigbee är bättre än hos Bluetooth Low Energy.  Slutsatsen av arbetet är att Zigbee är mer lämpad för tidkritiska system än Bluetooth Low Energy då låg latensen prioriteras. Zigbee är även mer lämpad då lång distansen prioriteras men då bör signalstyrkan ligga runt -50dBm. Bluetooth Low Energy är dock mer lämpad då lång distans inte prioriteras och signalstyrkan inte behöver vara utmärkt för att kunna kommunicera.  Begränsningarna för arbetet är att Bluetooth Low Energy och Zigbee endast har prövats på utvecklingskortet nRF5340 DK.  På grund av den begränsade tiden så har endast ett antal bestämda experiment som har föreslagits av rådgivare på Rol Ergo utförts. / The thesis has been conducted together with  Rol Ergo company. The purpose of this study is to analyse Zigbee 3.0 and Bluetooth Low Energy 5.2 and their suitability for time-critical systems, by studying latency and the relations between signal strength and distance between two communication products. The data collection was completed by an experimental study. By using knowledge that has been collected for the study, sets of experiments will be performed to answer the research questions.  Results of the collected data indicate that both the maximum latency and the typical latency for Zigbee is significantly lower than for Bluetooth Low Energy. The collected data for signal strength shows that the signal strength for Bluetooth Low Energy is more affected by distance between the communication product, than Zigbee’s is. It also shows that the optimal ratio between signal strength and distance for Zigbee is better than for Bluetooth Low Energy. The conclusion of the study shows Zigbee to be a more suitable for time-critical systems compared to Bluetooth Low Energy when low latency is being prioritized. Zigbee is also more suitable for time-critical systems when long distance is being prioritized, however the signal strength must then be around -50 dBm. Bluetooth Low Energy is more suitable when long distance is not the priority, and the signal strength does not have to be excellent to be able to communicate.  The limitations for this thesis are that Bluetooth Low Energy and Zigbee will only be tested on the nRF5349 Development Kit. given limited time, only a certain of experiments, whereas some have been suggested by advisors from Rol Ergo, has been carried out.

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