Optimization-based design of fault-tolerant avionics

This dissertation considers the problem of improving the self-consciousness for avionic systems using numerical optimization techniques, emphasizing UAV applications. This self-consciousness implies a sense of awareness for oneself to make a reliable decision on some crucial aspects. In the context of the avionics or aerospace industry, those aspects are SWaP-C as well as safety and reliability. The decision-making processes to optimize these aspects, which are the main contributions of this work, are presented. In addition, implementation on various types of applications related to avionics and UAV are also provided. The first half of this thesis lays out the background of avionics development ranging from a mechanical gyroscope to a current state-of-the-art electronics system. The relevant mathematics regarding convex optimization and its algorithms, which will be used for formulating this self-consciousness problem, are also provided. The latter half presents two problem formulations for redundancy design automation and reconfigurable middleware. The first formulation focuses on the minimization of SWaP-C while satisfying safety and reliability requirements. The other one aims to maximize the system safety and reliability by introducing a fault-tolerant capability via the task scheduler of middleware or RTOS. The usage of these two formulations is shown by four aerospace applications---reconfigurable multicore avionics, a SITL simulation of a UAV GNC system, a modular drone, and a HITL simulation of a fault-tolerant distributed engine control architecture.Ph.D

A Survey and Comparative Study of Hard and Soft Real-time Dynamic Resource Allocation Strategies for Multi/Many-core Systems

Multi-/many-core systems are envisioned to satisfy the ever-increasing performance requirements of complex applications in various domains such as embedded and high-performance computing. Such systems need to cater to increasingly dynamic workloads, requiring efficient dynamic resource allocation strategies to satisfy hard or soft real-time constraints. This article provides an extensive survey of hard and soft real-time dynamic resource allocation strategies proposed since the mid-1990s and highlights the emerging trends for multi-/many-core systems. The survey covers a taxonomy of the resource allocation strategies and considers their various optimization objectives, which have been used to provide comprehensive comparison. The strategies employ various principles, such as market and biological concepts, to perform the optimizations. The trend followed by the resource allocation strategies, open research challenges, and likely emerging research directions have also been provided

A Framework for Collaborative Multi-task, Multi-robot Missions

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners. This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. Using this approach, the designer is able to compensate for non-ideal behavior in the appropriate space using whatever control scheme they choose. This work presents a general design methodology, including analysis techniques for relevant control metrics like stability, responsiveness, and disturbance rejection, which were missing in prior work. Multiple tasks may be combined into a collaborative mission. The unified motion control architecture merges the control space components for each task into a concise federated system to facilitate analysis and implementation. The task coordination function defines task commands as functions of mission commands and state values to create explicit closed-loop collaboration. This work presents analysis techniques to understand the effects of cross-coupling tasks. This work analyzes system stability for the particular control architecture and identifies an explicit condition to ensure stable switching when reallocating robots. We are unaware of any other automated control architectures that address large-scale collaborative systems composed of task-oriented multi-robot coalitions where relative spatial control is critical to mission performance. This architecture and methodology have been validated in experiments and in simulations, repeating earlier work and exploring new scenarios and. It can perform large-scale, complex missions via a rigorous design methodology

Dynamic Resource Allocation for Efficient Sharing of Services from Heterogeneous Autonomous Vehicles

A novel dynamic resource allocation model is introduced for efficient sharing of services provided by ad hoc assemblies of heterogeneous autonomous vehicles. A key contribution is the provision of capability to dynamically select sensors and platforms within constraints imposed by time dependencies, refueling, and transportation services. The problem is modeled as a connected network of nodes and formulated as an integer linear program. Solution fitness is prioritized over computation time. Simulation results of an illustrative scenario are used to demonstrate the ability of the model to plan for sensor selection, refueling, collaboration, and cooperation between heterogeneous resources. Prioritization of operational cost leads to missions that use cheaper resources but take longer to complete. Prioritization of completion time leads to shorter missions at the expense of increased overall resource cost. Missions can be successfully replanned through dynamic reallocation of new requests during a mission. Monte Carlo studies on systems of increasing complexity show that good solutions can be obtained using low time resolutions, with small time windows at a relatively low computational cost. In comparison with other approaches, the developed integer linear program model provides best solutions at the expense of longer computation time

Virtualization techniques for memory resource exploitation

Cloud infrastructures have become indispensable in our daily lives with the rise of cloud-based services offered by companies like Facebook, Google, Amazon and many others. These cloud infrastructures use a large numbers of servers provisioned with their own computing resources. Each of these servers use a piece of software, called the Hypervisor (``HV''), that allows them to create multiple virtual instances of the server's physical computing resources and abstract them into "Virtual Machines'' (VMs). A VM runs an Operating System, which in turn runs the applications. The VMs within the servers generate varying memory demand behavior. When the demand increases, costly operations such as (virtual) disk accesses and/or VM migrations can occur. As a result, it is necessary to optimize the utilization of the local memory resources within a single computing server. However, pressure on the memory resources can still increase, making it necessary to migrate the VM to a different server with larger memory or add more memory to the same server. At this point, it is important to consider that some of the servers in the cloud infrastructure might have memory resources that they are not using. Considering the possibility to make memory available to the server, new architectures have been introduced that provide hardware support to enable servers to share their memory capacity. This thesis presents multiple contributions to the memory management problem. First, it addresses the problem of optimizing memory resources in a virtualized server through different types of memory abstractions. Two full contributions are presented for managing memory within a single server called SmarTmem and CARLEMM. In this respect, a third contribution is also presented, called CAVMem, that works as the foundation for CARLEMM. Second, this thesis presents two contributions for memory capacity aggregation across multiple servers, offering two mechanisms called GV-Tmem and vMCA, this latter being based on GV-Tmem but with significant enhancements. These mechanisms distribute the server's total memory within a single-server and globally across computing servers using a user-space process with high-level memory management policies.Las infraestructuras para la nube se han vuelto indispensables en nuestras vidas diarias con la proliferación de los servicios ofrecidos por compañías como Facebook, Google, Amazon entre otras. Estas infraestructuras utilizan una gran cantidad de servidores proveídos con sus propios recursos computacionales. Cada unos de estos servidores utilizan un software, llamado el Hipervisor (“HV”), que les permite crear múltiples instancias virtuales de los recursos físicos de computación del servidor y abstraerlos en “Máquinas Virtuales” (VMs). Una VM ejecuta un Sistema Operativo (OS), el cual a su vez ejecuta aplicaciones. Las VMs dentro de los servidores generan un comportamiento variable de demanda de memoria. Cuando la demanda de memoria aumenta, operaciones costosas como accesos al disco (virtual) y/o migraciones de VMs pueden ocurrir. Como resultado, es necesario optimizar la utilización de los recursos de memoria locales dentro del servidor. Sin embargo, la demanda por memoria puede seguir aumentando, haciendo necesario que la VM migre a otro servidor o que se añada más memoria al servidor. En este punto, es importante considerar que algunos servidores podrían tener recursos de memoria que no están utilizando. Considerando la posibilidad de hacer más memoria disponible a los servidores que lo necesitan, nuevas arquitecturas de servidores han sido introducidos que brindan el soporte de hardware necesario para habilitar que los servidores puedan compartir su capacidad de memoria. Esta tesis presenta múltiples contribuciones para el problema de manejo de memoria. Primero, se enfoca en el problema de optimizar los recursos de memoria en un servidor virtualizado a través de distintos tipos de abstracciones de memoria. Dos contribuciones son presentadas para administrar memoria de manera automática dentro de un servidor virtualizado, llamadas SmarTmem y CARLEMM. En este contexto, una tercera contribución es presentada, llamada CAVMem, que proporciona los fundamentos para el desarrollo de CARLEMM. Segundo, la tesis presenta dos contribuciones enfocadas en la agregación de capacidad de memoria a través de múltiples servidores, ofreciendo dos mecanismos llamados GV-Tmem y vMCA, siendo este último basado en GV-Tmem pero con mejoras significativas. Estos mecanismos administran la memoria total de un servidor a nivel local y de manera global a lo largo de los servidores de la infraestructura de nube utilizando un proceso de usuario que implementa políticas de manejo de ..

Virtualization techniques for memory resource exploitation

Cloud infrastructures have become indispensable in our daily lives with the rise of cloud-based services offered by companies like Facebook, Google, Amazon and many others. These cloud infrastructures use a large numbers of servers provisioned with their own computing resources. Each of these servers use a piece of software, called the Hypervisor (``HV''), that allows them to create multiple virtual instances of the server's physical computing resources and abstract them into "Virtual Machines'' (VMs). A VM runs an Operating System, which in turn runs the applications. The VMs within the servers generate varying memory demand behavior. When the demand increases, costly operations such as (virtual) disk accesses and/or VM migrations can occur. As a result, it is necessary to optimize the utilization of the local memory resources within a single computing server. However, pressure on the memory resources can still increase, making it necessary to migrate the VM to a different server with larger memory or add more memory to the same server. At this point, it is important to consider that some of the servers in the cloud infrastructure might have memory resources that they are not using. Considering the possibility to make memory available to the server, new architectures have been introduced that provide hardware support to enable servers to share their memory capacity. This thesis presents multiple contributions to the memory management problem. First, it addresses the problem of optimizing memory resources in a virtualized server through different types of memory abstractions. Two full contributions are presented for managing memory within a single server called SmarTmem and CARLEMM. In this respect, a third contribution is also presented, called CAVMem, that works as the foundation for CARLEMM. Second, this thesis presents two contributions for memory capacity aggregation across multiple servers, offering two mechanisms called GV-Tmem and vMCA, this latter being based on GV-Tmem but with significant enhancements. These mechanisms distribute the server's total memory within a single-server and globally across computing servers using a user-space process with high-level memory management policies.Las infraestructuras para la nube se han vuelto indispensables en nuestras vidas diarias con la proliferación de los servicios ofrecidos por compañías como Facebook, Google, Amazon entre otras. Estas infraestructuras utilizan una gran cantidad de servidores proveídos con sus propios recursos computacionales. Cada unos de estos servidores utilizan un software, llamado el Hipervisor (“HV”), que les permite crear múltiples instancias virtuales de los recursos físicos de computación del servidor y abstraerlos en “Máquinas Virtuales” (VMs). Una VM ejecuta un Sistema Operativo (OS), el cual a su vez ejecuta aplicaciones. Las VMs dentro de los servidores generan un comportamiento variable de demanda de memoria. Cuando la demanda de memoria aumenta, operaciones costosas como accesos al disco (virtual) y/o migraciones de VMs pueden ocurrir. Como resultado, es necesario optimizar la utilización de los recursos de memoria locales dentro del servidor. Sin embargo, la demanda por memoria puede seguir aumentando, haciendo necesario que la VM migre a otro servidor o que se añada más memoria al servidor. En este punto, es importante considerar que algunos servidores podrían tener recursos de memoria que no están utilizando. Considerando la posibilidad de hacer más memoria disponible a los servidores que lo necesitan, nuevas arquitecturas de servidores han sido introducidos que brindan el soporte de hardware necesario para habilitar que los servidores puedan compartir su capacidad de memoria. Esta tesis presenta múltiples contribuciones para el problema de manejo de memoria. Primero, se enfoca en el problema de optimizar los recursos de memoria en un servidor virtualizado a través de distintos tipos de abstracciones de memoria. Dos contribuciones son presentadas para administrar memoria de manera automática dentro de un servidor virtualizado, llamadas SmarTmem y CARLEMM. En este contexto, una tercera contribución es presentada, llamada CAVMem, que proporciona los fundamentos para el desarrollo de CARLEMM. Segundo, la tesis presenta dos contribuciones enfocadas en la agregación de capacidad de memoria a través de múltiples servidores, ofreciendo dos mecanismos llamados GV-Tmem y vMCA, siendo este último basado en GV-Tmem pero con mejoras significativas. Estos mecanismos administran la memoria total de un servidor a nivel local y de manera global a lo largo de los servidores de la infraestructura de nube utilizando un proceso de usuario que implementa políticas de manejo de ...Postprint (published version

Virtualization techniques for memory resource exploitation

Cloud infrastructures have become indispensable in our daily lives with the rise of cloud-based services offered by companies like Facebook, Google, Amazon and many others. These cloud infrastructures use a large numbers of servers provisioned with their own computing resources. Each of these servers use a piece of software, called the Hypervisor (``HV''), that allows them to create multiple virtual instances of the server's physical computing resources and abstract them into "Virtual Machines'' (VMs). A VM runs an Operating System, which in turn runs the applications. The VMs within the servers generate varying memory demand behavior. When the demand increases, costly operations such as (virtual) disk accesses and/or VM migrations can occur. As a result, it is necessary to optimize the utilization of the local memory resources within a single computing server. However, pressure on the memory resources can still increase, making it necessary to migrate the VM to a different server with larger memory or add more memory to the same server. At this point, it is important to consider that some of the servers in the cloud infrastructure might have memory resources that they are not using. Considering the possibility to make memory available to the server, new architectures have been introduced that provide hardware support to enable servers to share their memory capacity. This thesis presents multiple contributions to the memory management problem. First, it addresses the problem of optimizing memory resources in a virtualized server through different types of memory abstractions. Two full contributions are presented for managing memory within a single server called SmarTmem and CARLEMM. In this respect, a third contribution is also presented, called CAVMem, that works as the foundation for CARLEMM. Second, this thesis presents two contributions for memory capacity aggregation across multiple servers, offering two mechanisms called GV-Tmem and vMCA, this latter being based on GV-Tmem but with significant enhancements. These mechanisms distribute the server's total memory within a single-server and globally across computing servers using a user-space process with high-level memory management policies.Las infraestructuras para la nube se han vuelto indispensables en nuestras vidas diarias con la proliferación de los servicios ofrecidos por compañías como Facebook, Google, Amazon entre otras. Estas infraestructuras utilizan una gran cantidad de servidores proveídos con sus propios recursos computacionales. Cada unos de estos servidores utilizan un software, llamado el Hipervisor (“HV”), que les permite crear múltiples instancias virtuales de los recursos físicos de computación del servidor y abstraerlos en “Máquinas Virtuales” (VMs). Una VM ejecuta un Sistema Operativo (OS), el cual a su vez ejecuta aplicaciones. Las VMs dentro de los servidores generan un comportamiento variable de demanda de memoria. Cuando la demanda de memoria aumenta, operaciones costosas como accesos al disco (virtual) y/o migraciones de VMs pueden ocurrir. Como resultado, es necesario optimizar la utilización de los recursos de memoria locales dentro del servidor. Sin embargo, la demanda por memoria puede seguir aumentando, haciendo necesario que la VM migre a otro servidor o que se añada más memoria al servidor. En este punto, es importante considerar que algunos servidores podrían tener recursos de memoria que no están utilizando. Considerando la posibilidad de hacer más memoria disponible a los servidores que lo necesitan, nuevas arquitecturas de servidores han sido introducidos que brindan el soporte de hardware necesario para habilitar que los servidores puedan compartir su capacidad de memoria. Esta tesis presenta múltiples contribuciones para el problema de manejo de memoria. Primero, se enfoca en el problema de optimizar los recursos de memoria en un servidor virtualizado a través de distintos tipos de abstracciones de memoria. Dos contribuciones son presentadas para administrar memoria de manera automática dentro de un servidor virtualizado, llamadas SmarTmem y CARLEMM. En este contexto, una tercera contribución es presentada, llamada CAVMem, que proporciona los fundamentos para el desarrollo de CARLEMM. Segundo, la tesis presenta dos contribuciones enfocadas en la agregación de capacidad de memoria a través de múltiples servidores, ofreciendo dos mecanismos llamados GV-Tmem y vMCA, siendo este último basado en GV-Tmem pero con mejoras significativas. Estos mecanismos administran la memoria total de un servidor a nivel local y de manera global a lo largo de los servidores de la infraestructura de nube utilizando un proceso de usuario que implementa políticas de manejo de ..