Using the DiaSpec design language and compiler to develop robotics systems

A Sense/Compute/Control (SCC) application is one that interacts with the physical environment. Such applications are pervasive in domains such as building automation, assisted living, and autonomic computing. Developing an SCC application is complex because: (1) the implementation must address both the interaction with the environment and the application logic; (2) any evolution in the environment must be reflected in the implementation of the application; (3) correctness is essential, as effects on the physical environment can have irreversible consequences. The SCC architectural pattern and the DiaSpec domain-specific design language propose a framework to guide the design of such applications. From a design description in DiaSpec, the DiaSpec compiler is capable of generating a programming framework that guides the developer in implementing the design and that provides runtime support. In this paper, we report on an experiment using DiaSpec (both the design language and compiler) to develop a standard robotics application. We discuss the benefits and problems of using DiaSpec in a robotics setting and present some changes that would make DiaSpec a better framework in this setting.Comment: DSLRob'11: Domain-Specific Languages and models for ROBotic systems (2011

Distributed memory compiler methods for irregular problems: Data copy reuse and runtime partitioning

Outlined here are two methods which we believe will play an important role in any distributed memory compiler able to handle sparse and unstructured problems. We describe how to link runtime partitioners to distributed memory compilers. In our scheme, programmers can implicitly specify how data and loop iterations are to be distributed between processors. This insulates users from having to deal explicitly with potentially complex algorithms that carry out work and data partitioning. We also describe a viable mechanism for tracking and reusing copies of off-processor data. In many programs, several loops access the same off-processor memory locations. As long as it can be verified that the values assigned to off-processor memory locations remain unmodified, we show that we can effectively reuse stored off-processor data. We present experimental data from a 3-D unstructured Euler solver run on iPSC/860 to demonstrate the usefulness of our methods

Execution Integrity with In-Place Encryption

Instruction set randomization (ISR) was initially proposed with the main goal of countering code-injection attacks. However, ISR seems to have lost its appeal since code-injection attacks became less attractive because protection mechanisms such as data execution prevention (DEP) as well as code-reuse attacks became more prevalent. In this paper, we show that ISR can be extended to also protect against code-reuse attacks while at the same time offering security guarantees similar to those of software diversity, control-flow integrity, and information hiding. We present Scylla, a scheme that deploys a new technique for in-place code encryption to hide the code layout of a randomized binary, and restricts the control flow to a benign execution path. This allows us to i) implicitly restrict control-flow targets to basic block entries without requiring the extraction of a control-flow graph, ii) achieve execution integrity within legitimate basic blocks, and iii) hide the underlying code layout under malicious read access to the program. Our analysis demonstrates that Scylla is capable of preventing state-of-the-art attacks such as just-in-time return-oriented programming (JIT-ROP) and crash-resistant oriented programming (CROP). We extensively evaluate our prototype implementation of Scylla and show feasible performance overhead. We also provide details on how this overhead can be significantly reduced with dedicated hardware support

A Verified Certificate Checker for Finite-Precision Error Bounds in Coq and HOL4

Being able to soundly estimate roundoff errors of finite-precision computations is important for many applications in embedded systems and scientific computing. Due to the discrepancy between continuous reals and discrete finite-precision values, automated static analysis tools are highly valuable to estimate roundoff errors. The results, however, are only as correct as the implementations of the static analysis tools. This paper presents a formally verified and modular tool which fully automatically checks the correctness of finite-precision roundoff error bounds encoded in a certificate. We present implementations of certificate generation and checking for both Coq and HOL4 and evaluate it on a number of examples from the literature. The experiments use both in-logic evaluation of Coq and HOL4, and execution of extracted code outside of the logics: we benchmark Coq extracted unverified OCaml code and a CakeML-generated verified binary