Real-Time Scheduling for GPUs with Applications in Advanced Automotive Systems

Self-driving cars, once constrained to closed test tracks, are beginning to drive alongside human drivers on public roads. Loss of life or property may result if the computing systems of automated vehicles fail to respond to events at the right moment. We call such systems that must satisfy precise timing constraints “real-time systems.” Since the 1960s, researchers have developed algorithms and analytical techniques used in the development of real-time systems; however, this body of knowledge primarily applies to traditional CPU-based platforms. Unfortunately, traditional platforms cannot meet the computational requirements of self-driving cars without exceeding the power and cost constraints of commercially viable vehicles. We argue that modern graphics processing units, or GPUs, represent a feasible alternative, but new algorithms and analytical techniques must be developed in order to integrate these uniquely constrained processors into a real-time system. The goal of the research presented in this dissertation is to discover and remedy the issues that prevent the use of GPUs in real-time systems. To overcome these issues, we design and implement a real-time multi-GPU scheduler, called GPUSync. GPUSync tightly controls access to a GPU’s computational and DMA processors, enabling simultaneous use despite potential limitations in GPU hardware. GPUSync enables tasks to migrate among GPUs, allowing new classes of real-time multi-GPU computing platforms. GPUSync employs heuristics to guide scheduling decisions to improve system efficiency without risking violations in real-time constraints. GPUSync may be paired with a wide variety of common real-time CPU schedulers. GPUSync supports closed-source GPU runtimes and drivers without loss in functionality. We evaluate GPUSync with both analytical and runtime experiments. In our analytical experiments, we model and evaluate over fifty configurations of GPUSync. We determine which configurations support the greatest computational capacity while maintaining real-time constraints. In our runtime experiments, we execute computer vision programs similar to those found in automated vehicles, with and without GPUSync. Our results demonstrate that GPUSync greatly reduces jitter in video processing. Research into real-time systems with GPUs is a new area of study. Although there is prior work on such systems, no other GPU scheduling framework is as comprehensive and flexible as GPUSync.Doctor of Philosoph

Analysis domain model for shared virtual environments

The field of shared virtual environments, which also encompasses online games and social 3D environments, has a system landscape consisting of multiple solutions that share great functional overlap. However, there is little system interoperability between the different solutions. A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system. This paper has two main contributions. The first contribution is a broad domain analysis of shared virtual environments, which enables developers to have a better understanding of the whole rather than the part(s). The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model

A Distributed Building Evacuation System

This thesis investigates the feasibility of a smart building evacuation system, capable of guiding occupants along safe paths to exits and responding to changing threats. Inspired by developments in amorphous computing, the design presented is scalable to large networks, robust to hardware and communication failure, and based on simple low-cost components. A simulation and hardware prototype demonstrate that this distributed building evacuation system is both feasible and cost effective

LIPIcs, Volume 274, ESA 2023, Complete Volume

LIPIcs, Volume 274, ESA 2023, Complete Volum

Design of Overlay Networks for Internet Multicast - Doctoral Dissertation, August 2002

Multicast is an efficient transmission scheme for supporting group communication in networks. Contrasted with unicast, where multiple point-to-point connections must be used to support communications among a group of users, multicast is more efficient because each data packet is replicated in the network – at the branching points leading to distinguished destinations, thus reducing the transmission load on the data sources and traffic load on the network links. To implement multicast, networks need to incorporate new routing and forwarding mechanisms in addition to the existing are not adequately supported in the current networks. The IP multicast are not adequately supported in the current networks. The IP multicast solution has serious scaling and deployment limitations, and cannot be easily extended to provide more enhanced data services. Furthermore, and perhaps most importantly, IP multicast has ignored the economic nature of the problem, lacking incentives for service providers to deploy the service in wide area networks. Overlay multicast holds promise for the realization of large scale Internet multicast services. An overlay network is a virtual topology constructed on top of the Internet infrastructure. The concept of overlay networks enables multicast to be deployed as a service network rather than a network primitive mechanism, allowing deployment over heterogeneous networks without the need of universal network support. This dissertation addresses the network design aspects of overlay networks to provide scalable multicast services in the Internet. The resources and the network cost in the context of overlay networks are different from that in conventional networks, presenting new challenges and new problems to solve. Our design goal are the maximization of network utility and improved service quality. As the overall network design problem is extremely complex, we divide the problem into three components: the efficient management of session traffic (multicast routing), the provisioning of overlay network resources (bandwidth dimensioning) and overlay topology optimization (service placement). The combined solution provides a comprehensive procedure for planning and managing an overlay multicast network. We also consider a complementary form of overlay multicast called application-level multicast (ALMI). ALMI allows end systems to directly create an overlay multicast session among themselves. This gives applications the flexibility to communicate without relying on service provides. The tradeoff is that users do not have direct control on the topology and data paths taken by the session flows and will typically get lower quality of service due to the best effort nature of the Internet environment. ALMI is therefore suitable for sessions of small size or sessions where all members are well connected to the network. Furthermore, the ALMI framework allows us to experiment with application specific components such as data reliability, in order to identify a useful set of communication semantic for enhanced data services

Improving End-to-End Internet Performance by Detouring

The Internet provides a best-effort service, which gives a robust fault-tolerant network. However, the performance of the paths found in regular Internet routing is suboptimal. As a result, applications rarely achieve all the benefits that the Internet can provide. The problem is made more difficult because the Internet is formed of competing ISPs which have little incentives to reveal information about the performance of Internet paths. As a result, the Internet is sometimes referred as a ‘black-box’. Detouring uses routing overlay networks to find alternative paths (or detour paths) that can improve reliability, latency and bandwidth. Previous work has shown detouring can improve the Internet. However, one important issue remains—how can these detour paths be found without conducting large-scale measurements? In this thesis, we describe practical methods for discovering detour paths to improve specific performance metrics that are scalable to the Internet. Particularly we concentrate our efforts on two metrics, latency and bandwidth, which are arguably the two most important performance metrics for end-user’s applications. Taking advantage of the Internet topology, we show how nodes can learn about segments of Internet paths that can be exploited by detouring leading to reduced path latencies. Next, we investigate bandwidth detouring revealing constructive detour properties and effective mechanisms to detour paths in overlay networks. This leads to Ukairo, our bandwidth detouring platform that is scalable to the Internet and tcpChiryo, which predicts bandwidth in an overlay network through measuring a small portion of the network

Enhancing the mechanical efficiency of skilled rowing through shortened feedback cycles

In elite level rowing competition, the average velocities of medallists differ by less than 1 % over 2000 m. Nations place sporting excellence in high regard and this magnifies the importance of success. As a result, sports science and technology is increasingly used to achieve marginal performance gains. This research considers how to advance biomechanical analysis and skills training provision with a particular focus on the technical and practical delivery of real-time feedback to coaches and athletes, thereby shortening the amount of time between feedback cycles. Underpinning any biomechanical feedback intervention, validated determinants of performance are required. Previous research revealed that, while gross biomechanical measures such as athlete power, stroke rate and stroke length have previously been used as key determinants of performance, elite athletes are nowadays performing within expected ranges and therefore it is no longer possible to easily differentiate crews using these measures alone. This thesis describes workshops held with elite coaches to investigate biomechanical efficiency where the outcomes led to a focus on how a boat accelerates and decelerates during a stroke and hence how the boat's velocity fluctuates. Novel metrics are proposed to quantify aspects of a stroke cycle and used to analyse an elite data set, collected using a standardised protocol. It is shown that individual elite rowers can be successfully differentiated and benchmark values of performance are presented. Consideration of previous research suggests that there is currently no suitably functional and flexible biomechanical real-time feedback system to deliver complex skills training in rowing. Therefore, this thesis describes the research that has led to the development and evaluation of new technology to deliver visual and audible interfaces that support the delivery of concurrent and terminal feedback in water and land-based environments. Coaches and athletes were involved throughout the design process to optimise system suitability and encourage adoption. The technology empowers a coach to intricately manipulate feedback provision, thereby promoting motor control and learning theory best practice. Novel insights relevant to designing interactive systems for use within an elite sporting population are also discussed. This research presents an end-to-end strategy for the applied delivery of real-time feedback to skilled rowers bringing together engineering and social science disciplines. A land-based case series reveals that while statistically significant skill learning was not achieved, participants acquired sport specific technical awareness and heightened motivation as a result of the skills training intervention. Existing motor learning literature was tested as part of the study with a key finding being the lack of support for audible display of stroke acceleration through frequency modulation. Study limitations were identified that explain the lack of an effect of skills training on rower efficiency. The study also acted as a validation of the use of a land-based simulator to monitor and manipulate stroke velocity and a validation of the candidate feedback interfaces that had been implemented. As of result of this work, rowing coaches are able to evaluate their athletes in a novel way, achieving a deeper appreciation of their biomechanical efficiency. Upon identifying athletes with a need for technical development, coaches can intervene with the proposed methodology of skill development making use of the new technologies developed to deliver performance gains. This methodology would achieve enhanced validity through a deeper understanding of the reliability of the new metrics and their relationship to boat speed. Future attempts to test for skill learning should build upon the findings made in this work and, in due course, technology and theory should combine to deliver terminal feedback training during water-based rowing

Standardized development of computer software. Part 2: Standards

This monograph contains standards for software development and engineering. The book sets forth rules for design, specification, coding, testing, documentation, and quality assurance audits of software; it also contains detailed outlines for the documentation to be produced

Design and implementation of a QoS-Supportive system for reliable multicast

As the Internet is increasingly being used by business companies to offer and procure services, providers of networked system services are expected to assure customers of specific Quality of Service (QoS) they could offer. This leads to scenarios where users prefer to negotiate required QoS guarantees prior to accepting a service, and service providers assess their ability to provide the customer with the requested QoS on the basis of existing resource availability. A system to be deployed in such scenarios should, in addition to providing the services, (i) monitor resource availability, (ii) be able to assess whether or not requested QoS can be met, and (iii) adapt to QoS perturbations (e.g., node failures) which undermine any assumptions made on continued resource availability. This thesis focuses on building such a QoS-Supportive system for reliably multicasting messages within a group of crash-prone nodes connected by loss-prone networks. System design involves developing a Reliable Multicast protocol and analytically estimating the multicast performance in terms of protocol parameters. It considers two cases regarding message size: small messages that fit into a single packet and large ones that need to be fragmented into multiple packets. Analytical estimations are obtained through stochastic modelling and approximation, and their accuracy is demonstrated using simulations. They allow the affordability of the requested QoS to be numerically assessed for a given set of performance metrics of the underlying network, and also indicate the values to be used for the protocol parameters if the affordable QoS is to be achieved. System implementation takes a modular approach and the major sub-systems built include: the QoS negotiation component, the network monitoring component and the reliable multicast protocol component. Two prototypes have been built. The first one is built as a middleware system in itself to the extent of testing our ideas over a group of geographically distant nodes using PlanetLab. The second prototype is developed as a part of the JGroups Reliable Communication Toolkit and provides, besides an example of scenario directly benefitting of such technology, an example integration of our subsystem into an already-existing system.EThOS - Electronic Theses Online ServiceTAPAS EU-IST-2001-34069 Project : EPSR (Engineering and Physical Sciences Research Council)GBUnited Kingdo