PhyNetLab: An IoT-Based Warehouse Testbed

Future warehouses will be made of modular embedded entities with communication ability and energy aware operation attached to the traditional materials handling and warehousing objects. This advancement is mainly to fulfill the flexibility and scalability needs of the emerging warehouses. However, it leads to a new layer of complexity during development and evaluation of such systems due to the multidisciplinarity in logistics, embedded systems, and wireless communications. Although each discipline provides theoretical approaches and simulations for these tasks, many issues are often discovered in a real deployment of the full system. In this paper we introduce PhyNetLab as a real scale warehouse testbed made of cyber physical objects (PhyNodes) developed for this type of application. The presented platform provides a possibility to check the industrial requirement of an IoT-based warehouse in addition to the typical wireless sensor networks tests. We describe the hardware and software components of the nodes in addition to the overall structure of the testbed. Finally, we will demonstrate the advantages of the testbed by evaluating the performance of the ETSI compliant radio channel access procedure for an IoT warehouse

Software fault injection and localization in embedded systems

Injection and localization of software faults have been extensively researched, but the results are not directly transferable to embedded systems. The domain-specific constraints applying to these systems, such as limited resources and the predominant C/C++ programming languages, require a specific set of injection and localization techniques. In this thesis, we have assessed existing approaches and have contributed a set of novel methods for software fault injection and localization in embedded systems. We have developed a method based on AspectC++ for the injection of errors at interfaces and a method based on Clang for the accurate injection of software faults directly into source code. Both approaches work particularly well in the context of embedded systems, because they do not require runtime support and modify binaries only when necessary. Nevertheless, they are suitable to inject software faults and errors into the software of other domains. These contributions required a thorough assessment of fault injection techniques and fault models presented in literature over the years, which raised multiple questions regarding their validity in the context of C/C++. We found that macros (particularly header files), compile-time language constructs, and the commonly used optimization levels introduce a non-negligible bias to experimental results achieved by injection methods operating on any other layer than the source code. Additionally, we found that the textual specification of fault models is prone to ambiguities and misunderstandings. We have conceived an automatic fault classifier to solve this problem in a field study. Regarding software fault localization, we have combined existing methods making use of program spectra and assertions, and have contributed a new oracle type for autonomous localization of software faults in the field. Our evaluation shows that this approach works particularly well in the context of embedded systems because the generated information can be processed in real-time and, therefore, it can run in an unsupervised manner. Concluding, we assessed a variety of injection and localization approaches in the context of embedded systems and contributed novel methods where applicable improving the current state-of-the-art. Our results also point out weaknesses regarding the general validity of the majority of previous injection experiments in C/C++

Middleware specialization using aspect oriented programming

Standardized middleware is used to build large distributed real-time and enterprise (DRE) systems. These middleware are highly flexible and support a large number of features since they have to be applicable to a wide range of domains and applications. This generality and flexibility, however, often causes many performance and footprint overheads par-ticularly for product line architectures, which have a well-defined scope smaller than that of the middleware yet must leverage its benefits, such as reusability. To alleviate this tension thus a key objective is to specialize the middleware, which comprises removing the sources of excessive general-ity while simultaneously optimizing the required features of middleware functionality. To meet this objective this paper describes how we have applied Aspect-Oriented Program-ming (AOP) in a novel manner to address these challenges. Although AOP is primarily used for separation of concerns, we use it to specialize middleware. Aspects are used to se-lect the specific set of features needed by the product line. Aspect weaving is subsequently used to specialize the mid-dleware. This paper describes the key motivation for our research, identifies the challenges developing middleware-based product lines and shows how to resolve those using aspects. The results applying our AOP-based specialization techniques to event demultiplexing middleware for the case of single threaded implementation showed 3 % decrease in latency and 2 % increase in throughput, while in the thread pool implementation showed 4 % decrease in latency and 3% increase in throughput

Applying aspects to a real-time embedded operating system

The application of aspect-oriented programming (AOP) to the embedded operating system domain is still a very controversial topic, as this area demands high performance and small memory footprint. However, recent studies quantifying aspects overheads in AspectC++ show that the resource cost is very low. Therefore, operating system development may benefit with the modularization of crosscutting concerns and system specialization offered by AOP. This paper addresses our experience in applying aspects to synchronization (mutual exclusion) and logging in a real-time embedded operating system (BOSS). Furthermore, we present our ideas for future investigation in aspect-oriented implementations for fault tolerance, middleware customization and platform variability.(undefined

Advancing Operating Systems via Aspect-Oriented Programming

Operating system kernels are among the most complex pieces of software in existence to- day. Maintaining the kernel code and developing new functionality is increasingly compli- cated, since the amount of required features has risen significantly, leading to side ef fects that can be introduced inadvertedly by changing a piece of code that belongs to a completely dif ferent context. Software developers try to modularize their code base into separate functional units. Some of the functionality or “concerns” required in a kernel, however, does not fit into the given modularization structure; this code may then be spread over the code base and its implementation tangled with code implementing dif ferent concerns. These so-called “crosscutting concerns” are especially dif ficult to handle since a change in a crosscutting concern implies that all relevant locations spread throughout the code base have to be modified. Aspect-Oriented Software Development (AOSD) is an approach to handle crosscutting concerns by factoring them out into separate modules. The “advice” code contained in these modules is woven into the original code base according to a pointcut description, a set of interaction points (joinpoints) with the code base. To be used in operating systems, AOSD requires tool support for the prevalent procedu- ral programming style as well as support for weaving aspects. Many interactions in kernel code are dynamic, so in order to implement non-static behavior and improve performance, a dynamic weaver that deploys and undeploys aspects at system runtime is required. This thesis presents an extension of the “C” programming language to support AOSD. Based on this, two dynamic weaving toolkits – TOSKANA and TOSKANA-VM – are presented to permit dynamic aspect weaving in the monolithic NetBSD kernel as well as in a virtual- machine and microkernel-based Linux kernel running on top of L4. Based on TOSKANA, applications for this dynamic aspect technology are discussed and evaluated. The thesis closes with a view on an aspect-oriented kernel structure that maintains coherency and handles crosscutting concerns using dynamic aspects while enhancing de- velopment methods through the use of domain-specific programming languages

Integrating the common variability language with multilanguage annotations for web engineering

Web applications development involves managing a high diversity of files and resources like code, pages or style sheets, implemented in different languages. To deal with the automatic generation of custom-made configurations of web applications, industry usually adopts annotation-based approaches even though the majority of studies encourage the use of composition-based approaches to implement Software Product Lines. Recent work tries to combine both approaches to get the complementary benefits. However, technological companies are reticent to adopt new development paradigms such as feature-oriented programming or aspect-oriented programming. Moreover, it is extremely difficult, or even impossible, to apply these programming models to web applications, mainly because of their multilingual nature, since their development involves multiple types of source code (Java, Groovy, JavaScript), templates (HTML, Markdown, XML), style sheet files (CSS and its variants, such as SCSS), and other files (JSON, YML, shell scripts). We propose to use the Common Variability Language as a composition-based approach and integrate annotations to manage fine grained variability of a Software Product Line for web applications. In this paper, we (i) show that existing composition and annotation-based approaches, including some well-known combinations, are not appropriate to model and implement the variability of web applications; and (ii) present a combined approach that effectively integrates annotations into a composition-based approach for web applications. We implement our approach and show its applicability with an industrial real-world system.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Operating system fault tolerance support for real-time embedded applications

Tese de doutoramento em Electrónica Industrial (ramo de conhecimento em Informática Industrial)Fault tolerance is a means of achieving high dependability for critical and highavailability systems. Despite the efforts to prevent and remove faults during the development of these systems, the application of fault tolerance is usually required because the hardware may fail during system operation and software faults are very hard to eliminate completely. One of the difficulties in implementing fault tolerance techniques is the lack of support from operating systems and middleware. In most fault tolerant projects, the programmer has to develop a fault tolerance implementation for each application. This strong customization makes the fault-tolerant software costly and difficult to implement and maintain. In particular, for small-scale embedded systems, the introduction of fault tolerance techniques may also have impact on their restricted resources, such as processing power and memory size. The purpose of this research is to provide fault tolerance support for real-time applications in small-scale embedded systems. The main approach of this thesis is to develop and integrate a customizable and extendable fault tolerance framework into a real-time operating system, in order to fulfill the needs of a large range of dependable applications. Special attention is taken to allow the coexistence of fault tolerance with real-time constraints. The utilization of the proposed framework features several advantages over ad-hoc implementations, such as simplifying application-level programming and improving the system configurability and maintainability. In addition, this thesis also investigates the application of aspect-oriented techniques to the development of real-time embedded fault-tolerant software. Aspect- Oriented Programming (AOP) is employed to modularize all fault tolerant source code, following the principle of separation of concerns, and to integrate the proposed framework into the operating system. Two case studies are used to evaluate the proposed implementation in terms of performance and resource costs. The results show that the overheads related to the framework application are acceptable and the ones related to the AOP implementation are negligible.Tolerância a falhas é um meio de obter-se alta confiabilidade para sistemas críticos e de elevada disponibilidade. Apesar dos esforços para prevenir e remover falhas durante o desenvolvimento destes sistemas, a aplicação de tolerância a falhas é normalmente necessária, já que o hardware pode falhar durante a operação do sistema e falhas de software são muito difíceis de eliminar completamente. Uma das dificuldades na implementação de técnicas de tolerância a falhas é a falta de suporte por parte dos sistemas operativos e middleware. Na maioria dos projectos tolerantes a falhas, o programador deve desenvolver uma implementação de tolerância a falhas para cada aplicação. Esta elevada adaptação torna o software tolerante a falhas dispendioso e difícil de implementar e manter. Em particular, para sistemas embebidos de pequena escala, a introdução de técnicas de tolerância a falhas pode também ter impacto nos seus restritos recursos, tais como capacidade de processamento e tamanho da memória. O propósito desta tese é prover suporte à tolerância a falhas para aplicações de tempo real em sistemas embebidos de pequena escala. A principal abordagem utilizada nesta tese foi desenvolver e integrar uma framework tolerante a falhas, customizável e extensível, a um sistema operativo de tempo real, a fim de satisfazer às necessidades de uma larga gama de aplicações confiáveis. Especial atenção foi dada para permitir a coexistência de tolerância a falhas com restrições de tempo real. A utilização da framework proposta apresenta diversas vantagens sobre implementações ad-hoc, tais como simplificar a programação a nível da aplicação e melhorar a configurabilidade e a facilidade de manutenção do sistema. Além disto, esta tese também investiga a aplicação de técnicas orientadas a aspectos no desenvolvimento de software tolerante a falhas, embebido e de tempo real. A Programação Orientada a Aspectos (POA) é empregada para segregar em módulos isolados todo o código fonte tolerante a falhas, seguindo o princípio da separação de interesses, e para integrar a framework proposta com o sistema operativo. Dois casos de estudo são utilizados para avaliar a implementação proposta em termos de desempenho e utilização de recursos. Os resultados mostram que os acréscimos de recursos relativos à aplicação da framework são aceitáveis e os relativos à implementação POA são insignificantes

An overview of Mirjam and WeaveC

In this chapter, we elaborate on the design of an industrial-strength aspectoriented programming language and weaver for large-scale software development. First, we present an analysis on the requirements of a general purpose aspect-oriented language that can handle crosscutting concerns in ASML software. We also outline a strategy on working with aspects in large-scale software development processes. In our design, we both re-use existing aspect-oriented language abstractions and propose new ones to address the issues that we identified in our analysis. The quality of the code ensured by the realized language and weaver has a positive impact both on maintenance effort and lead-time in the first line software development process. As evidence, we present a short evaluation of the language and weaver as applied today in the software development process of ASML