Wait-Free Global Virtual Time Computation in Shared Memory Time-Warp Systems

Global Virtual Time (GVT) is a powerful abstraction used to discriminate what events belong (and what do not belong) to the past history of a parallel/distributed computation. For high performance simulation systems based on the Time Warp synchronization protocol, where concurrent simulation objects are allowed to process their events speculatively and causal consistency is achieved via rollback/recovery techniques, GVT is used to determine which portion of the simulation can be considered as committed. Hence it is the base for actuating memory recovery (e.g. of obsolete logs that were taken in order to support state recoverability) and nonrevocable operations (e.g. I/O). For shared memory implementations of simulation platforms based on the Time Warp protocol, the reference GVT algorithm is the one presented by Fujimoto and Hybinette [1]. However, this algorithm relies on critical sections that make it non-wait-free, and which can hamper scalability. In this article we present a waitfree shared memory GVT algorithm that requires no critical section. Rather, correct coordination across the processes while computing the GVT value is achieved via memory atomic operations, namely compare-and-swap. The price paid by our proposal is an increase in the number of GVT computation phases, as opposed to the single phase required by the proposal in [1]. However, as we show via the results of an experimental study, the wait-free nature of the phases carried out in our GVT algorithm pays-off in reducing the actual cost incurred by the proposal in [1]

Wireless Software Synchronization of Multiple Distributed Cameras

We present a method for precisely time-synchronizing the capture of image sequences from a collection of smartphone cameras connected over WiFi. Our method is entirely software-based, has only modest hardware requirements, and achieves an accuracy of less than 250 microseconds on unmodified commodity hardware. It does not use image content and synchronizes cameras prior to capture. The algorithm operates in two stages. In the first stage, we designate one device as the leader and synchronize each client device's clock to it by estimating network delay. Once clocks are synchronized, the second stage initiates continuous image streaming, estimates the relative phase of image timestamps between each client and the leader, and shifts the streams into alignment. We quantitatively validate our results on a multi-camera rig imaging a high-precision LED array and qualitatively demonstrate significant improvements to multi-view stereo depth estimation and stitching of dynamic scenes. We release as open source 'libsoftwaresync', an Android implementation of our system, to inspire new types of collective capture applications.Comment: Main: 9 pages, 10 figures. Supplemental: 3 pages, 5 figure

Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19), April 16--18, 2019, Montreal, QC, Canad

PALS/PRISM Software Design Description (SDD): Ver. 0.51

This Software Design Description (SDD) provides detailed information on the architecture and coding for the PRISM C++ library (version 0.51). The PRISM C++ library supports consistent information sharing and in- teractions between distributed components of networked embedded systems, e.g. avionics. It is designed to reduce the complexity of the networked sys- tem by employing synchronous semantics provided by the architectural pat- tern called a Physically-Asynchronous Logically-Synchronous (PALS) system.unpublishednot peer reviewe

Adaptive Dispatching of Tasks in the Cloud

The increasingly wide application of Cloud Computing enables the consolidation of tens of thousands of applications in shared infrastructures. Thus, meeting the quality of service requirements of so many diverse applications in such shared resource environments has become a real challenge, especially since the characteristics and workload of applications differ widely and may change over time. This paper presents an experimental system that can exploit a variety of online quality of service aware adaptive task allocation schemes, and three such schemes are designed and compared. These are a measurement driven algorithm that uses reinforcement learning, secondly a "sensible" allocation algorithm that assigns jobs to sub-systems that are observed to provide a lower response time, and then an algorithm that splits the job arrival stream into sub-streams at rates computed from the hosts' processing capabilities. All of these schemes are compared via measurements among themselves and with a simple round-robin scheduler, on two experimental test-beds with homogeneous and heterogeneous hosts having different processing capacities.Comment: 10 pages, 9 figure

General analytical framework for cooperative sensing and access trade-off optimization

In this paper, we investigate the joint cooperative spectrum sensing and access design problem for multi-channel cognitive radio networks. A general heterogeneous setting is considered where the probabilities that different channels are available, SNRs of the signals received at secondary users (SUs) due to transmissions from primary users (PUs) for different users and channels can be different. We assume a cooperative sensing strategy with a general a-out-of-b aggregation rule and design a synchronized MAC protocol so that SUs can exploit available channels. We analyze the sensing performance and the throughput achieved by the joint sensing and access design. Based on this analysis, we develop algorithms to find optimal parameters for the sensing and access protocols and to determine channel assignment for SUs to maximize the system throughput. Finally, numerical results are presented to verify the effectiveness of our design and demonstrate the relative performance of our proposed algorithms and the optimal ones.Comment: arXiv admin note: text overlap with arXiv:1404.167

SICStus MT - A Multithreaded Execution Environment for SICStus Prolog

The development of intelligent software agents and other complex applications which continuously interact with their environments has been one of the reasons why explicit concurrency has become a necessity in a modern Prolog system today. Such applications need to perform several tasks which may be very different with respect to how they are implemented in Prolog. Performing these tasks simultaneously is very tedious without language support. This paper describes the design, implementation and evaluation of a prototype multithreaded execution environment for SICStus Prolog. The threads are dynamically managed using a small and compact set of Prolog primitives implemented in a portable way, requiring almost no support from the underlying operating system