TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial serialization. Our formulation can generate messages that can be divided into two parts. During message transmission, one part is transmitted through a socket and the other part uses shared memory. The part within shared memory is never copied or serialized during its lifetime. We have integrated TZC with ROS and ROS2 and find that TZC can be easily combined with current open-source platforms. By using TZC, the overhead of IPC remains constant when the message size grows. In particular, when the message size is 4MB (less than the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2 IPC from hundreds of milliseconds to less than 1 millisecond. We also demonstrate the benefits of TZC by integrating with TurtleBot2 that are used in autonomous driving scenarios. We show that by using TZC, the braking distance can be shortened by 16% than ROS

UPC++ v1.0 Programmer’s Guide, Revision 2020.3.0

UPC++ is a C++11 library that provides Partitioned Global Address Space (PGAS) programming. It is designed for writing parallel programs that run efficiently and scale well on distributed-memory parallel computers. The PGAS model is single program, multiple-data (SPMD), with each separate constituent process having access to local memory as it would in C++. However, PGAS also provides access to a global address space, which is allocated in shared segments that are distributed over the processes. UPC++ provides numerous methods for accessing and using global memory. In UPC++, all operations that access remote memory are explicit, which encourages programmers to be aware of the cost of communication and data movement. Moreover, all remote-memory access operations are by default asynchronous, to enable programmers to write code that scales well even on hundreds of thousands of cores

XML Schema-based Minification for Communication of Security Information and Event Management (SIEM) Systems in Cloud Environments

XML-based communication governs most of today's systems communication, due to its capability of representing complex structural and hierarchical data. However, XML document structure is considered a huge and bulky data that can be reduced to minimize bandwidth usage, transmission time, and maximize performance. This contributes to a more efficient and utilized resource usage. In cloud environments, this affects the amount of money the consumer pays. Several techniques are used to achieve this goal. This paper discusses these techniques and proposes a new XML Schema-based Minification technique. The proposed technique works on XML Structure reduction using minification. The proposed technique provides a separation between the meaningful names and the underlying minified names, which enhances software/code readability. This technique is applied to Intrusion Detection Message Exchange Format (IDMEF) messages, as part of Security Information and Event Management (SIEM) system communication hosted on Microsoft Azure Cloud. Test results show message size reduction ranging from 8.15% to 50.34% in the raw message, without using time-consuming compression techniques. Adding GZip compression to the proposed technique produces 66.1% shorter message size compared to original XML messages.Comment: XML, JSON, Minification, XML Schema, Cloud, Log, Communication, Compression, XMill, GZip, Code Generation, Code Readability, 9 pages, 12 figures, 5 tables, Journal Articl

Rewriting Logic Semantics of a Plan Execution Language

The Plan Execution Interchange Language (PLEXIL) is a synchronous language developed by NASA to support autonomous spacecraft operations. In this paper, we propose a rewriting logic semantics of PLEXIL in Maude, a high-performance logical engine. The rewriting logic semantics is by itself a formal interpreter of the language and can be used as a semantic benchmark for the implementation of PLEXIL executives. The implementation in Maude has the additional benefit of making available to PLEXIL designers and developers all the formal analysis and verification tools provided by Maude. The formalization of the PLEXIL semantics in rewriting logic poses an interesting challenge due to the synchronous nature of the language and the prioritized rules defining its semantics. To overcome this difficulty, we propose a general procedure for simulating synchronous set relations in rewriting logic that is sound and, for deterministic relations, complete. We also report on two issues at the design level of the original PLEXIL semantics that were identified with the help of the executable specification in Maude